Stickman: Towards a Human Scale Acrobatic Robot
Morgan T. Pope, Steven Christensen, David Christensen, Anthony Simeonov, Grant Imahara, Gunter Niemeyer
Abstract
Human performers have developed impressive acrobatic techniques over thousands of years of practicing the gymnastic arts. At the same time, robots have started to become more mobile and autonomous, and can begin to imitate these stunts in dramatic and informative ways. We present a simple two degree of freedom robot that uses a gravity-driven pendulum launch and produces a variety of somersaulting stunts. The robot uses an IMU and a laser range-finder to estimate its state mid-flight and actuates to change its motion both on and and off the pendulum. We discuss the dynamics of this behavior in a framework of acrobatic capability and present experimental results.
BibTeX
@inproceedings{icra2018_stickmantowardsa,
title = {Stickman: Towards a Human Scale Acrobatic Robot},
author = {Morgan T. Pope and Steven Christensen and David Christensen and Anthony Simeonov and Grant Imahara and Gunter Niemeyer},
booktitle = {ICRA 2018},
year = {2018}
}