CHARLI: Cognitive Humanoid Autonomous Robot with Learning Intelligence
From RoMeLa
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| CHARLI Cognitive Humanoid Autonomous Robot with Learning Intelligence | |
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| Current Researchers | Jeakweon Han |
| Details | |
| Motors | Robotis Dynamixel RX-28, RX-64, EX-106 |
CHARLI is the United States first full size humanoid robot. Its mechanical and electrical design represents a significant departure from that of existing humaonids. As such it will enable research in the effects of compliance and parallel actuation in bipedal walking, and its distributed control hardware will offer insight into the heirarchical control systems used by animals. More information is available at the Virginia Tech Website, updates to this page to come soon!
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Goals & Objectives
The goals of this research project focus on improving the capabilities of humanoid robots and advancing the understanding of bipedal locomotion:
- Compliant actuators allow passive dynamic motions for research into limit cycle walking.
- Parallel linear actuators yield insights into the human anatomical form and its relationship to bipedal locomotion.
- An FPGA/EtherCAT based control architecture provides the determinism and speed necessary for advanced hierarchical controls research.
- A second lightweight CHARLI will be built for competitive robot soccer and demos.
Operation Concept
CHARLI's stucture is uniquely anatomically based. It will utilize Maxon brushless DC motors to drive custom linear actuators arranged in parallel across the joints. A compliant member is to be located in series with the actuator to reduce shock loads and joint impedance.
Publications
- Lahr, D.F., Hong, D.W., “The Development of CHARLI: A Linear Actuated Powered Full Size Humanoid Robot”, Proceedings URAI 2008, Seoul, Korea, November 2008.
- Lahr, D.F., Hong, D.W., “A Biomimetic Parallelly Actuated Humanoid Robot Design”, Proceedings UKC 2009, Raleigh, NC., July 2009.