Mercury is an adult-sized bipedal robot designed to study highly dynamic locomotion. It has passive ankles, so it has to continuously take steps to stay balanced. Keep moving, Mercury.
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Did You Know?
Mercury is named after the Roman god of travelers, typically depicted wearing winged sandals.
Over the course of three years, researcher Donghyun Kim disassembled and reassembled Mercury about 100 times.
To misquote Woody from Toy Story, Mercury is not walking, it's falling with style.
- Dynamically balances by continuously stepping. Precise trajectory tracking using series elastic actuators in all joints. Advanced inertial state estimation and feedback control systems. Whole-body controller can simultaneously handle high-level walking Cartesian tasks and arm based manipulation tasks.
- 150 cm | 59 in
- 20 cm | 7.9 in
- 30 cm | 11.8 in
- 22 kg | 48.5 lb
- 4 km/h | 2.5 mph (push recovery stepping); 3 steps per second
- STIM-300 inertial measurement unit (IMU). Optical encoders for motor position and spring deflection sensing. Absolute encoders for joint position sensing. Spring-loaded switch sensor for ground contact switching. PhaseSpace motion capture system.
- Moog BN23-23 brushless DC motors and Meka 2011 linear series-elastic actuators.
- 1-kW 48-V DC power supply
- Main computer with Intel Core i5-7300U 2.6 GHz, 4 GB RAM
- RT-Preempt Ubuntu 16.04 (real time control), custom created Dynacore open-source whole-body locomotion controller
- DEGREES OF FREEDOM (DOF)
- 6 (Leg: 3 DoF x 2)
- Carbon fiber torso, linkages and covers on legs, for rigidity. Aluminum series elastic drivetrains.