Controlling Apptronik's Biped Robot DRACO

We control here the Apptronik DRACO bipedal robot for unsupported dynamic locomotion. DRACO consists of a 10 DoF lower body with liquid cooled viscoelastic actuators to reduce weight, increase payload, and achieve fast dynamic walking. Control and walking algorithms are designed by UT HCRL Laboratory.

[@freakinccdevilleiv380]

The key for this really is torque at the ankles.

[@JDiegar]

Does the hip only have two axis? Can't tell from video, but wouldn't the ability to pivot help with getting and holding balance?

[@HCRLaboratory]

It has three axis. This algorithm was testing walking with no rotations. A newer version of the algorithm provides more versatility.

[@JDiegar]

@@HCRLaboratory Looks great!

[@H34...]

Doss this have actuation for the ankle or only knees and hip?

[@HCRLaboratory]

It does have knee actuation but it's not being use for balance in this experiment.

[@andrewbarnard3229]

Can it not stand still?

[@manojkumar2709]

Did you write some research paper on it?

[@HCRLaboratory]

Here it is: arxiv.org/abs/1901.08100