HyQ REAL from the proof of concept to the real world

HyQ REAL
from the proof of concept
to
the real world application
Claudio Semini,
Stephane Bazeille
Dynamic Legged Systems Lab
Advanced Robotics Department
Istituto Italiano di Tecnologia (IIT)
HyQ robot
Copyright Claudio Semini, IIT 2014
Tuesday, 11th of February 2014
ECHORD++ info day, Peccioli, Italy
Video link: http://youtu.be/AnwetZpRtFE
V.Barasuol, J.Buchli, C.Semini, M.Frigerio, E. R. De Pieri, and D.G. Caldwell. A Reactive Controller
Framework for Quadrupedal Locomotion on Challenging Terrain. ICRA, 2013.
C.Semini,
HyQ
–Italiano
Design
and Development
Claudio
Semini,
Istituto
di Tecnologia
of a11th
Hydraulically
Actuated Quadruped Robot,ECHORD++
PhD thesis,
2010.
of February 2014
info day
2
HyQ robot on uneven terrain
Video soon published on:
www.iit.it/hyq
A. Winkler, I. Havoutis, S. Bazeille, J. Ortiz, M. Focchi, R. Dillmann, D. Caldwell and C. Semini, "Path planning
with force-based foothold adaptation and virtual model control for torque controlled quadruped robots" ICRA 2014.
Claudio Semini, Istituto Italiano di Tecnologia
11th of February 2014
ECHORD++ info day
3
Project idea for ECHORD++
• Goal: bring HyQ out of the lab into real-world applications
• How:
1) Ruggedize the robot
2) Increase reliability of all components (incl. software)
3) Install onboard power system
4) Test robot in real-world scenarios
• Participants:
Academia
Industry
IIT-ADVR, Genova
Test site in Montelibretti, Rome, Italy
Claudio Semini, Istituto Italiano di Tecnologia
11th of February 2014
1-2 partners
Italian National
Fire-Fighters
Corp (CNVVF)
ECHORD++ info day
4
Project idea for ECHORD++
•
•
•
Proposal format: Experiment
In line with the goals of Horizon2020 to include
Innovation into R&D
R&D&I
Innovation = turning research results into practice!
www.iit.it/hyq
Claudio Semini, Istituto Italiano di Tecnologia
11th of February 2014
ECHORD++ info day
5

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