Quadruped walking "cheetah robot" to realize a phenomenal technology to recognize and jump over obstacles while running

A high-performance quadruped walking robot that does not collapse even if it is kicked from Google's quadruped walking robot who was noted with eerie move "Spot"The technology of the quadruped walking robot continues to evolve, such as being developed. Meanwhile, Massachusetts Institute of Technology (MIT) is developing "Cheetah robot」Is running at about 8 km / h, autonomously recognizing obstacles and crossing obstacles is being released for the first time in the world.

MIT cheetah robot lands the running jump | MIT News
http://newsoffice.mit.edu/2015/cheetah-robot-lands-running-jump-0529

Watch MIT's Robot Cheetah Jump Over Obstacles | Popular Science
http://www.popsci.com/watch-mits-cheetah-robot-jump-high-over-obstacles

The way the cheetah robot runs and jumps obstacles one after another can be confirmed from the following movie.

MIT cheetah robot lands the running jump - YouTube


MIT created a cheetah robot that autonomously overcomes obstacles. When the cheetah robot is running at about 8 km / h on the treadmill (running machine), obstacles will flow in front of you.


Then, even if a person does not add any operation, Pyon automatically jumps.


I landed safely and I start running with Takataka again. The length of the treadmill is 4 meters, but it seems that the distance required for the cheetah robot to recognize the obstacle and make the jump successful is about 1 meter.


Three real-time algorithms are used to make an autonomous jump. First of all, the distance sensor using 2D laser grasps the surrounding environment.


Based on the data obtained by the distance sensor, understand the height of obstacles coming and the distance to obstacles.


Then calculate the position of the jump necessary to overcome the obstacle and the width of the step to be stepped on to that point.


Next, choose the movement of the foot necessary to overcome obstacles.


Calculate the trajectories of forefoot and hind leg in advance ...


I will move the foot accurately accordingly.


With this algorithm, it is possible to cross obstacles with various heights without difficulty. For example, even obstacles with a height of 27 cm ......


He jumps over.


Even if an obstacle of height 40 cm, which is 13 cm higher than that, will come ...


It is possible to go over lightly using an algorithm.


In addition, it seems that the movie shot a cheetah robot that transcends consecutive obstacles one after another, and you can check the smoothness and accuracy of the motion.


In the test conducted on a 4 m long treadmill, the success rate was about 70%, but in the test where multiple obstacles were placed side by side in a wide place, it was said that it recorded about 90% success rate about. How the cheetah robot goes over obstacles isNational Defense Advanced Research Projects Agency(DARPA)The Robotics ChallengeSangbae Kim, who led the research, will publish an official paper in July.