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JKU’s Bipedal Robot

Hubert Gattringer at the Johannes Kepler University of Linz developed this bipedal robot in collaboration with SCHUNK and dSPACE between 2006 and 2007.  The robot is said to be able to walk at a rate of 0.5km/h and climb stairs thanks to its human-like degrees of freedom in its legs (ankle x2, knee x1, hip x3).

It stands 180cm (5’9″) tall and weighs 40kg (88 lbs), and is actuated by 14 PowerCubes (modular, compact harmonic drive gears) developed by SCHUNK.  Specially designed force-torque sensors based on strain gauges in its ankles allow it to determine the ZMP (zero moment point) in order to maintain its stability.  Additionally, it had a stereo camera set-up in its head for sensing depth.

It made three public appearances, beginning with Automatic in 2006 and ending with Motek in 2007, however video footage is difficult to obtain.  An early CAD rendering of the robot and another photo follow after the break.

[source: Institute for Robotics @ JKU Linz (DE)]


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