Biped robots



DACbot is a Dynamic, Adaptive, Compliant walking robot (a next generation of RunBot). It consists of an active upper body and two legs with passive compliant ankles and flat feet.  It has various proprioceptive (e.g., joint angle, foot contact, gyro) and exteroceptive (e.g., infrared) sensors for locomotion generation and environmental detection. DACbot is used as an experimental platform for studying bipedal dynamic locomotion and neural control.



The running bipedal robot RuBi is a human-inspired, compliance-reconfigurable and low-cost bipedal platform for research in human-like walking and running gaits control. It consists of 3 active joints per leg with SEA and PEA actuators.  It has various proprioceptive sensors (e.g., joint angles, foot contacts, current sensors) for locomotion control. Its reliable hardware structure and actuation system and a robust software frame are able to offer all the needed functionalities.