RAMone is the RAMlab’s first bipedal robot. It is based on the ScarlETH leg design and used to study efficient locomotion. A planarizer restricts its motion to the sagittal plane, which greatly simplifies control. With its high-compliance series elastic actuators, the robot exhibits a rich set of possible passive dynamic motions, and is used to study the exploitation of natural dynamics.
(6/26/2017) New Publication in IEEE Robotics and Automation Letters
Check out the new paper by Nils Smit-Anseeuw, published in IEEE Robotics and Automation Letters. Nils recently presented this work at the IEEE International Conference on Robotics and Automation (ICRA), in Singapore. more...
(6/8/2016) RAMlab Members Present at Dynamic Walking
Wyatt, Zhenyu, Yevgeniy, Jeff, Nils, Kim, Khai, and David all presented their latest work at the 2016 Dynamic Walking conference in Holly, Michigan. more...
(1/1/2016) Kevin Green and Annika Stoldt Win RISE Undergraduate Research Awards
Kevin Green and Annika Stoldt received awards during the mechanical engineering department's undergraduate symposium. Kevin won best senior presentation in Dynamics and Controls for his work on an active motion planarizer. Annika won best sophomore poster for her work on equine motion kinematics.
Smit-Anseeuw, N., Gleason, R., Vasudevan, R. and Remy, C. D., 2017, "The Energetic Benefit of Robotic Gait Selection - A Case Study on the Robot Ramone", IEEE Robotics and Automation Letters, 2(2):1124 - 1131 [URL]
Green, K., Smit-Anseeuw, N., Gleason, R., and Remy, C.D. , 2016, "Design and Control of a Recovery System for Legged Robots", Advanced Intelligent Mechatronics (AIM) [preprint]
Smit-Anseeuw, N., Vasudevan, R., and Remy, C.D., 2016, "When Knees Become Ankles", Dynamic Walking [preprint]
Smit-Anseeuw, N. and Remy, C.D., 2015, "Stabilization of Energy Optimal Series Elastic Gait", Dynamic Walking [preprint]
In this video RAMone walks using a modified version of the walking controller proposed by Jerry Pratt. An advantage of this controller is that it is force based so it handles foot disturbances gracefully. We show this disturbance correction by placing hard and soft objects under RAMone's feet as it walks.
Control of a Robotic Biped SURE 2015
This is a summary of Kevin Green's work in David Remy's RAMLab. He worked on control of the biped RAMone. RAMone is the RAMlab’s first bipedal robot. It is based on the ScarlETH leg design and used to study efficient locomotion.