ATRIAS 1.0 Monopod

Overview

ATRIAS is designed for agile, robust, and energetically economic walking and running over uneven terrain, in addition to other highly dynamic maneuvers such as hopping, jumping, and skipping. The passive dynamics, or the behavior of only the mechanical components of the system, are designed specifically to match a simple, bio-inspired mathematical model. This implementation of a simple dynamic model will enable theory-based control, and enable a clear understanding and analysis of the dynamic behaviors. Our high-level goals align with those of the W Prize, for unprecedented speed, efficiency, and dexterity in terrestrial locomotion.

ATRIAS is part of two collaborative research projects: one focused on scientific goals of understanding ground-running bird locomotion strategies, and another focused on agile, efficient robotic locomotion. These projects are complementary, because a clear understanding of animal locomotion will lead to useful insights and ideas for robotic locomotion.


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CAD Models

You can download a complete set of CAD files (SolidWorks) for the robot. With these files, you can have all of the parts of the robot machined.