A robot that can break through stairs, fences, and doors with a strangely silly action "Ghost Minitaur"

Humanoid robotAtlasAnd Google's eerie quadruped walking robotspot, Bipedal walking robot acquired by Google from Japan ·SchaftRobots of various concepts are being developed all over the world. Compared to these, the motion is strangely challenging, but a patent-pending medium-sized quadruped walking robot that can climb stairs and fences and open doors with doorknobs "Ghost Minitaur'Has unique skills and love.

Ghost Minitaur - Ghost Robotics
http://www.ghostrobotics.io/minitaur/

Ghost Minitaur features a high-torque outrunner brushless motor, a special leg design and a high-speed, high-resolution encoder. Also excellentMachine vision, It is possible to analyze the terrain quickly and feed it back to the leg. With this, it is Ghost Minitaur that it is possible to break through easily even in places such as "stairs" and "fence" which usually do not like running machines. You can see how Ghost Minitaur actually moves by looking at the following movie.

Ghost Minitaur Intro - YouTube


This is Ghost Minitaur. It is a medium-sized quadruped walking robot with a height of 0.4 meters, a width of 0.28 meters, a weight of 6 kg, and a maximum loading capacity of 3 kg. Activity time is about 20 minutes.


While stepping on the ground alternately with two forefoots and two hind feet, proceed forward. The moving speed is 2 meters maximum speed.


Looking at the GIF image like this. It is strangely felt but it is somewhat charming movement.


Subsequently, Ghost Minitaur ...


Large body with two legs on the right ... ...


Backflip it.


Next while walking crab ... ....


It jumps up and down skillfully like the spring like the two front and back legs.



Succeeded by turning round as it was. In addition, walking speed of Ghost Minitaur crab walking is 0.04 meter per second.


Next, bend and stretch the four feet like a spring ... ...

Vertical jump. Ghost Minitaur can jump up to 0.48 meters with vertical jump.


As well as at the time of leaping, the feet are extended and shrunk like springs, absorbing the impact of landing.


Ghost Minitaur hit the fence.


Jump all the way ......


I put two forelimbs on the fence.


Looking at this action from the Ghost Minitaur viewpoint ......


Jump ......


After the main body floats, stretch out the two front legs quickly and hang the feet on the fence.


After Ghost Minitaur's foot on the fence ......


I skillfully use the four legs and go up the fence and the fence.


Ghost Minitaur lightly climbing the stairs.



From the perspective of Ghost Minitaur ......


Only rattling moves.


From another perspective. You can enjoy the Ghost Minitaur rushing up the stairs from various angles.


Then go to the door knob Ghost Minitaur.


Succeeded to pull the door knob and open the tobira.


The moment when Ghost Minitaur pulls the door knob, it can be seen in slow motion (lower right) with more elaborate movement than I imagined.


Later, you can push and open tobira ....


I will go inside.


In addition, I developed the Ghost Minitaur spun off from the research project at the University of PennsylvaniaGhost RoboticsIt is a company called.