The Electric Cable Differential Leg: BioInspired Robotics

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The Electric Cable Differential Leg Bio-Inspired
Robotics
Overview Thumper and MABEL are legged robots
that use electric motors for power cable
differential transmissions rather than standard
gearboxes and physical springs for energy
recovery during running gaits. Their bio-inspired
design is based on simplified models of animal
running.
Caption or photo content
Thumper, the monopod, at OSU
Cable differential
Caption or photo content

• Project Goals
• To better understand the role of compliance in
  walking and running, with applications to
  prosthetics, autonomous robots, and biomechanics
• To explore the line between software control and
  passive dynamics of the mechanical system
• To demonstrate our findings by building a bipedal
  robot that can walk, run, jump, and hop,
  approaching the performance of a blindfolded
  running bird

• Conclusions and Next Steps
• There is a specific optimal knee stiffness for
  running (see graph). At this stiffness, the work
  done by the motor is minimized.
• Improve the design, and take it into the 3D world
  and out of the lab!

• Project Status
• While constrained by a boom to the vertical
  plane, Thumper hops around the room, and MABEL
  successfully walks.
• Research to develop control methods for
  rough-terrain walking and running is ongoing.

MABEL, the biped, at U Michigan