IEEE Robotics & Automation Magazine - September 2018 - 34
Furthermore, we tested spontaneous transitions between sur-
faces to show robustness without any tuning of control
parameters. Figure 10(b), [49] shows a snapshot of ATRIAS
transitioning between walking on grass and pavement, and
Figure 10(e) between soft foam and particle board. This
Robustness
ATRIAS's robustness to complex terrain was tested on a vari-
ety of surfaces, uneven structures, and inclines. We conducted
testing on nonrigid surfaces, such as grass, soft foam, and arti-
ficial field turf [Figure 10(a), (e), and (k)], [27], [49], [51].
(a)
(b)
(d)
(c)
(e)
(h)
(f)
(i)
(g)
(j)
Force (N)
1,000
500
0
0
0.5
1
1.5
2
Time (s)
(k)
(l)
Figure 10. Various experiments with ATRIAS (a) walking on grass, (b) transitioning from pavement to grass, and (c) walking up
a 15° grassy slope. In-lab obstacles, (d) transitions between wooden boards and soft foam, (e) randomly structured boards, and
(f) stepping up and (g) stepping down a 15-cm platform, all of which were negotiated blindly. External disturbances included (h)
repeated dodgeball strikes and (i) strong kicks. High-speed tests included (j) a top speed of 2.5 m/s and (k) a smooth transition from
rest to walking to running and back to rest on stadium turf. (l) The plot for the vertical ground-reaction forces for each leg, with gaps
between indicating short periods of flight. (Figures courtesy of Christian Hubicki and Patrick Clary.)
34
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
*
september 2018
IEEE Robotics & Automation Magazine - September 2018
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2018
Contents
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