Bipedal Robot Rabbit: Falling when controller is turned off (Grenoble, March 2003)

[safety device catches the robot if it falls; it does not support it as there is a prismatic joint in it] Rabbit, based in Grenoble, France, was built as part of the French National Project ROBEA. The control laws shown here were designed at the University of Michigan. We worked with Gabriel Abba, Christine Chevallereau, Carlos Canudas De Wit, and Gabriel Buche. These videos are being posted because Rabbit played a very important role in the development of control theory for bipedal locomotion; specifically, the methods of VIRTUAL CONSTRAINTS and HYBRID ZERO DYNAMICS came out of the work on Rabbit. The work at Michigan was supported by the National Science Foundation. Remarks: In this experiment RABBIT's controller accidentally stopped causing RABBIT to fall. The experiment illustrates that 1) without feedback control RABBIT's joint friction quickly dampens out any motions and that 2) the "training wheels" attached to RABBIT's boom prevent RABBIT from falling to the ground.

Видео Bipedal Robot Rabbit: Falling when controller is turned off (Grenoble, March 2003) канала Michigan Robotics: Dynamic Legged Locomotion Lab