Cornell robots: all are autonomous, use little or no power and can't stand with parallel legs

Interested in Theory? Robotics & locomotion papers                          Lecture about robots by Andy Ruina at CMU in Sept 2012 (about an hour).

Picture of Ranger

Cornell Ranger

v1: 2001-6, v2.1: 2006-2008, v3: 2009-2012

Powered, 4-leg "biped," no knees. Walks on level ground. Radio-control steering by twisting inner legs.

Records: 9 km on April 3, 2009; 23 km (=14.3 mi) on July 5-6, 2010; 65 km (40.5 miles) on May 1-2, 2011. All without recharge or any human touch.
Picture of stever powered robot

Powered Biped with Knees


Ankle powered, minimally controlled. Walks on level ground.

Most energy-effective robot: 11 watts total, 0.2 J/N m.
Science Magazine, 2005
Picture of Steve passive robot

Passive Biped with Knees

v1 armless, v2 with arms (shown): 1999-2001

Passive-dynamic, two legs and knees. The most advanced passive-dynamic robot to date. Walks downhill.

J. Robotics Res., 2001
Picture of mcgeer robot

McGeer Copies

v1 & v2 (shown): 1996-2000

4 legged passive "biped" with knees. Walks downhill.

Dynamics and Stability of Systems, 2000
Picture of Tinkertoy

Tinker Toy Walkers

v1 (shown) and v2: 1996-2001

Passive biped. Can't stand stably in any configuration (even with splayed legs). Walks downhill.

Phys. Rev. Letters 1998, PRL-E 2001

  Picture of proposed robot

What's next?

Dec. 11, 2012 Proposal submitted to NSF (NRI program). Funded! Work starts in fall 2013.

Ranger is 2D, this will be 3D.
Ranger has 3 motors, this will have 10.
Ranger has no payload, this will carry an upper body.
Goal: match the robustness of Asimo/Petman/Atlas but with 1/10th the power. A stretch, but we're giving it a try.

Last edits by Jen Cheu 11/18/09