BigDog is a dynamically stable quadruped robot created in 2005 by Boston Dynamics with Foster-Miller, the NASA Jet Propulsion Laboratory, and the Harvard University Concord Field Station. BigDog is 3 feet (0.91 m) long, stands 2.5 feet tall, and weighs 240 pounds, about the size of a small mule. It is capable of traversing difficult terrain at 5 miles per hour, carrying 340 pounds, and climbing a 35 degree incline. Locomotion is controlled by an onboard computer that receives input from the robot's various sensors. Navigation and balance are also managed by the control system.
Big Dog is powered by a two-stroke, one-cylinder, 15-HP go-kart engine operating at over 9,000 RPM. The engine drives a hydraulic pump, which in turn drives the hydraulic leg actuators. Each leg has four actuators (two for the hip joint, and one each for the knee and ankle joints), for a total of 16. Each actuator unit consists of a hydraulic cylinder, servovalve, position sensor, and force sensor. Onboard computing power is a ruggedized PC/104 board stack with a Pentium 4 class computer running QNX.
http://en.wikipedia.org/wiki/BigDog
BigDog is the alpha male of the Boston Dynamics robots. It is a rough-terrain robot that walks, runs, climbs and carries heavy loads. BigDog is powered by an engine that drives a hydraulic actuation system. BigDog has four legs that are articulated like an animal’s, with compliant elements to absorb shock and recycle energy from one step to the next. BigDog is the size of a large dog or small mule; about 3 feet long, 2.5 feet tall and weighs 240 lbs.
BigDog's on-board computer controls locomotion, servos the legs and handles a variety of sensors. BigDog’s control system keeps it balanced, navigates, and regulates its energetics as conditions vary. Sensors for locomotion include joint position, joint force, ground contact, ground load, a gyroscope, LIDAR and a stereo vision system. Other sensors focus on the internal state of BigDog, monitoring the hydraulic pressure, oil temperature, engine functions, battery charge and others.
In separate tests BigDog runs at 4 mph, climbs slopes up to 35 degrees, walks across rubble, climbs a muddy hiking trail, walks in snow and water, and carries a 340 lb load. BigDog set a world's record for legged vehicles by traveling 12.8 miles without stopping or refueling. The ultimate goal for BigDog is to develop a robot that can go anywhere people and animals can go. The program is funded by the Tactical Technology Office at DARPA.
http://bigdogrobotvideos.com/ (video on this link)
Big Dog is powered by a two-stroke, one-cylinder, 15-HP go-kart engine operating at over 9,000 RPM. The engine drives a hydraulic pump, which in turn drives the hydraulic leg actuators. Each leg has four actuators (two for the hip joint, and one each for the knee and ankle joints), for a total of 16. Each actuator unit consists of a hydraulic cylinder, servovalve, position sensor, and force sensor. Onboard computing power is a ruggedized PC/104 board stack with a Pentium 4 class computer running QNX.
http://en.wikipedia.org/wiki/BigDog
BigDog is the alpha male of the Boston Dynamics robots. It is a rough-terrain robot that walks, runs, climbs and carries heavy loads. BigDog is powered by an engine that drives a hydraulic actuation system. BigDog has four legs that are articulated like an animal’s, with compliant elements to absorb shock and recycle energy from one step to the next. BigDog is the size of a large dog or small mule; about 3 feet long, 2.5 feet tall and weighs 240 lbs.
BigDog's on-board computer controls locomotion, servos the legs and handles a variety of sensors. BigDog’s control system keeps it balanced, navigates, and regulates its energetics as conditions vary. Sensors for locomotion include joint position, joint force, ground contact, ground load, a gyroscope, LIDAR and a stereo vision system. Other sensors focus on the internal state of BigDog, monitoring the hydraulic pressure, oil temperature, engine functions, battery charge and others.
In separate tests BigDog runs at 4 mph, climbs slopes up to 35 degrees, walks across rubble, climbs a muddy hiking trail, walks in snow and water, and carries a 340 lb load. BigDog set a world's record for legged vehicles by traveling 12.8 miles without stopping or refueling. The ultimate goal for BigDog is to develop a robot that can go anywhere people and animals can go. The program is funded by the Tactical Technology Office at DARPA.
http://bigdogrobotvideos.com/ (video on this link)
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