National Technical University of Athens - School of Mechanical Engineering
 
Control Systems Lab
Evangelos Papadopoulos Research Group

Goal

The goal of the Running Robot Project is twofold. On the one hand, an advanced control algorithm is being developed, which will be capable of setting both the forward speed and the height of the robot. An important feature of the control is that it will require only one actuator per robot leg. Working with this constraint, the problem is highly underactuated. The second aim of the project is the systematic design of the robot itself. To date, most running robots have been empirically designed. In this project it is sought to determine the physical parameters of the robot in such a way that various performance indexes are optimized. Robots with one and four legs are considered.

Pictures

     

Quadruped Robot

 

One-legged Robot

Videos - More Videos can be found here

 
 


Recent Publications - For older publications see here