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The	
  Impact	
  Will	
  Be	
  Huge	
  
Exoskeletons	
  
Prosthe.cs	
  
Robots	
  
	
  
How	
  to	
  build	
  machines	
  with	
  animal-­‐like	
  performance:	
  
Passive	
  Dynamics	
  +	
  Applied	
  Control...
Gibbons	
  
Trout	
  
Step	
  1:	
  Dynamically	
  Balance	
  
July	
  15,	
  2015	
  
5	
  
Step	
  2:	
  Robustness	
  to	
  Random	
  Disturbances	
  
July	
  15,	
  2015	
  
6	
  
Step	
  3:	
  Walk	
  Over	
  Obstacles	
  
July	
  15,	
  2015	
  
7	
  
Step	
  4:	
  Run!	
  
July	
  15,	
  2015	
  
8	
  
Step	
  5:	
  Really	
  Big	
  Obstacles!	
  Blind!	
  
July	
  15,	
  2015	
  
9	
  
The	
  Ground	
  
Reaction	
  Force	
  
Matches:	
  
	
  
-­‐	
  Animals	
  
-­‐	
  Spring-­‐Mass	
  
	
  
	
  
As	
  an	
...
The	
  Big	
  Demonstration	
  (DARPA	
  Robotics	
  Challenge)	
  
July	
  15,	
  2015	
  
11	
  
What’s	
  Next?	
  
	
  Science;	
  Steering;	
  Robust	
  Hardware	
  
July	
  15,	
  2015	
  
12	
  
Funding	
  Agencies	
  and	
  Grants	
  
grant	
  #:	
  RGY0062/2010	
  
grant	
  #:	
  W91CRB-­‐11-­‐1-­‐0002	
  
grant	
...
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Jonathan Hurst

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From the Autonomous Systems @ OSU conference. http://research.oregonstate.edu/unmanned-systems-initiative

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Jonathan Hurst

  1. 1. The  Impact  Will  Be  Huge   Exoskeletons   Prosthe.cs   Robots    
  2. 2. How  to  build  machines  with  animal-­‐like  performance:   Passive  Dynamics  +  Applied  Control   Machine  embodies  desired   passive  dynamics   •  Bio-­‐inspired  Spring-­‐mass  model   Control  robot  using  insights   from  this  model  and  animal   studies   •  Don’t  force  the  robot.    Let  it  do   its  thing.     Control  and  hardware  give-­‐and-­‐ take,  hand  off  responsibility  for   overall  behavior  to  each  other.     July  15,  2015   2   ATRIAS! Assume The Robot Is A Sphere!
  3. 3. Gibbons  
  4. 4. Trout  
  5. 5. Step  1:  Dynamically  Balance   July  15,  2015   5  
  6. 6. Step  2:  Robustness  to  Random  Disturbances   July  15,  2015   6  
  7. 7. Step  3:  Walk  Over  Obstacles   July  15,  2015   7  
  8. 8. Step  4:  Run!   July  15,  2015   8  
  9. 9. Step  5:  Really  Big  Obstacles!  Blind!   July  15,  2015   9  
  10. 10. The  Ground   Reaction  Force   Matches:     -­‐  Animals   -­‐  Spring-­‐Mass       As  an     Emergent   Behavior.   July  15,  2015   10  
  11. 11. The  Big  Demonstration  (DARPA  Robotics  Challenge)   July  15,  2015   11  
  12. 12. What’s  Next?    Science;  Steering;  Robust  Hardware   July  15,  2015   12  
  13. 13. Funding  Agencies  and  Grants   grant  #:  RGY0062/2010   grant  #:  W91CRB-­‐11-­‐1-­‐0002   grant  #:  W31P4Q-­‐13-­‐C-­‐0099       Thank  you!   Andy  Abate   ChrisXan  Hubicki   Ryan  Domres   Mikhail  Jones     Andrew  Peekema   Siavash  Rezazadeh   Johnathan  Van  Why         OSU  ATRIAS  Team   Collaborators   Dr.  Hartmut  Geyer                            Carnegie  Mellon   Dr.  Jessy  Grizzle                        University  of  Michigan   Dr.  Monica  Daley                              Royal  Veterinary  College,                              University  of  London         grant  #:  CMMI-­‐1100232  

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