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HyQ
Details
HyQ is a four-legged robot built as a platform to study quadrupedal locomotion. It can walk over obstacles, trot and rear like a horse, squat jump, and even kick things with its powerful hydraulic legs.
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Did You Know?
HyQ stands for hydraulic quadruped. |
HyQ's creators plan to add a pair of manipulator arms to the robot, in effect transforming it into a robotic Centaur. |
HyQ has its own special heavy-duty treadmill for running experiments. |
Specs
- FEATURES
- Equipped with torque-controlled legs with variable stiffness. Able to jump more than 20 cm (7.8 in) up in the air and land on its feet.
- HEIGHT
- 100 cm | 39.4 in (fully extended legs)
- LENGTH
- 100 cm | 39.4 in
- WIDTH
- 50 cm | 19.7 in
- WEIGHT
- 70 kg | 154.3 lb
- SPEED
- 6.5 km/h | 4 mph
- SENSORS
- Stereo cameras, laser range finder, IMU, force-torque sensors and high-resolution encoders in each joint.
- ACTUATORS
- Eight hydraulic cylinders controlled by high-performance servovalves. Four brushless DC motors with harmonic drive gears.
- POWER
- Tethered
- COMPUTING
- PC/104 embedded computer with data acquisition boards.
- SOFTWARE
- Xenomai Linux real-time OS with SL simulation and control software package.
- DEGREES OF FREEDOM (DOF)
- 12 (Leg: 3 DoF x 4)
- MATERIALS
- Torso and legs made of aerospace-grade aluminum alloy and stainless steel.
- COST
- $1.2 million (development cost)
- STATUS
- Ongoing
- WEBSITE
- http://www.iit.it/en/advanced-robotics/hyq.html
