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Cassie

Details

Cassie is a dynamic bipedal robot that can walk and run in a fashion similar to that of humans or animals. It can handle diverse and complex terrain, making it perfect for search and rescue, or package delivery.

Creator
Agility Robotics and Oregon State University
Country
United States πŸ‡ΊπŸ‡Έ
Year
2016
Type
Research
Creator
Agility Robotics and Oregon State University
Country
United States πŸ‡ΊπŸ‡Έ
Year
2016
Type
Research

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Specs

FEATURES
Strong and durable, able to handle experiments outdoors without a safety tether. Extremely energy efficient, runs for many hours on a single battery charge.
HEIGHT
115 cm | 45.3 in
LENGTH
40 cm | 15.75 in
WIDTH
55 cm | 21.6 in
WEIGHT
31 kg | 12.2 lb
SPEED
5 km/h | 3.1 mph (Walking speed using prototype stepping control)

SENSORS
MEMS IMU, absolute and incremental encoders.
ACTUATORS
Brushless DC motors, with custom-designed transmissions
POWER
20.5 Ah battery at 48V, with estimated 5 hours operation in mixed-use (100 W power draw while standing, ~300 W power draw during walking). Ability for much higher power output for a jump or running.
COMPUTING
Main real-time control computer with Intel Atom, custom microcontroller boards at each limb. Secondary Intel Nuc I5 for customer use, including any non-real-time processes.
SOFTWARE
MathWorks Simulink real-time for control computer. Any software allowed on secondary computer.
DEGREES OF FREEDOM (DOF)
10 (Legs: 5 DoF x 2)
MATERIALS
Aluminum; thermoformed polycarbonate variants; carbon fiber composite components.
COST
$300,000 (exact amount depends on application and quantity)
STATUS
Ongoing
HISTORY
WEBSITE
http://www.agilityrobotics.com