IEEE Robotics & Automation Magazine - September 2018 - 25
representing energy cost per unit robot weight per unit dis-
tance. ASIMO is estimated to have a TCoT of 3.2 [37].)
would not function without the intended natural dynamics
built into the mechanisms.
Robot Overview
ATRIAS is designed to perform highly dynamic walking and
running gaits. Complementary passive hardware, a mecha-
nism that is just as dynamic as the locomotion itself, allows
the biped to be reactive and stable when disturbed. Because
the hardware and algorithms are equal partners in generating
the locomotion patterns, the method used to control ATRIAS
Mechanical Overview
Even with pantograph legs unlike anything seen in nature,
ATRIAS performs bouncy gaits and reacts to trips and falls in
a convincingly natural way. Its construction is the result of an
effort to reproduce the natural dynamics and passive respons-
es found in nature rather than to mimic any particular mor-
phology [3]. Figure 2 shows the full biped robot, highlighting
1× Safety Tether
2× Abduction Motors
Quantum NEMA 23
Allied Motion (QB-023-03)
1× Structural Composite Shell
2× Belt-Drive Reduction
1× Fiber-Optic Gyro
KVH (1750-IMU)
1× Simulink Target PC
SlimPRO, 3.7-GHz i7-3740QM
CappuccinoPC (SP675P)
1× Wireless Router
ASUS (RT-AC66U)
1× 44.4-V, 10-Ah Battery
4× 5-Ah, 22.2-V Lithium Polymer
Turnigy (5 Ah 6S 65C)
2× Absolute Abduction Encoders
Magnetic Rotary Encoder Module
RLS (RMB-30-SI)
4× Leg Motor Drivers
EtherCAT, 200-Amp Peak
Elmo MC (G-DRU-100/100-EET)
1× E-Stop Button
8× 32-b Optical Encoders, Leg DoFs
RESOLUTE Readhead + RSLA Scale
Renishaw (RL-32B-AS-001C)
4× Leg Actuators
1× Transmissive Encoder Disk
USDigital (3500-EM1-0-360-I)
1× Optical Encoder Module
USDigital (EM1)
1× Megaflux Motor
Allied Motion (MF-150-10)
1× Harmonic Drive
(CSD-50-50)
4× Fiberglass Series Springs
8× Mechanical Fuses
8× Lightweight Carbon-Fiber Links
2× Passive Line-Contact Feet
Figure 2. A rendered view of ATRIAS with mechanisms and features highlighted. Most systems are located in the composite
torso, with only the actuation and sensing on the legs. Part numbers and suppliers are provided for selected components. E-Stop:
emergency stop. (Figure courtesy of Andy Abate.)
september 2018
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
*
25
IEEE Robotics & Automation Magazine - September 2018
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2018
Contents
IEEE Robotics & Automation Magazine - September 2018 - Cover1
IEEE Robotics & Automation Magazine - September 2018 - Cover2
IEEE Robotics & Automation Magazine - September 2018 - Contents
IEEE Robotics & Automation Magazine - September 2018 - 2
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IEEE Robotics & Automation Magazine - September 2018 - Cover3
IEEE Robotics & Automation Magazine - September 2018 - Cover4
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