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Mercury

Details

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.

Creator
UT Austin, Meka Robotics, and Apptronik
Country
United States πŸ‡ΊπŸ‡Έ
Year
2018
Type
Research, Humanoids
Creator
UT Austin, Meka Robotics, and Apptronik
Country
United States πŸ‡ΊπŸ‡Έ
Year
2018
Type
Research, Humanoids

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Specs

FEATURES
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.
HEIGHT
150 cm | 59 in
LENGTH
20 cm | 7.9 in
WIDTH
30 cm | 11.8 in
WEIGHT
22 kg | 48.5 lb
SPEED
4 km/h | 2.5 mph (push recovery stepping); 3 steps per second

SENSORS
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.
ACTUATORS
Moog BN23-23 brushless DC motors and Meka 2011 linear series-elastic actuators.
POWER
1-kW 48-V DC power supply
COMPUTING
Main computer with Intel Core i5-7300U 2.6 GHz, 4 GB RAM
SOFTWARE
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)
MATERIALS
Carbon fiber torso, linkages and covers on legs, for rigidity. Aluminum series elastic drivetrains.
COST
$150,000
STATUS
Ongoing
HISTORY
WEBSITE
https://sites.utexas.edu/hcrl