Team Description: | The DFKI Robotics Lab Team is composed of students and researchers from the DFKI Robotics Lab.
Our vehicle is the eight-legged SCORPION robot.
The "SCORPION" is an eight legged all-terrain robot, which is controlled by an biomimetic control approach. The control is based on biomimetic control approach. With this approach omnidirectional walking and a smooth and fast crossing between different motion patterns is possible. Additionally the posture and the speed of the robot can be changed while walking. The robot were successfully tested in rough, sandy and rocky terrain.
The "SCORPION" has eight legs and measures 65cm from front to back. The width depends on the posture of the legs and varies between 20cm and 60cm. In a typical M-shape walking position the robot is 40cm wide. The robot weights 11.5 kg including the 3.0 Ah batteries.
Each leg has 3 degrees of freedom, a thoracic joint for protraction and retraction, a basal joint for elevation and depression and a distal joint for extension and flexion of the leg. The joints are actuated by 24V, 6W DC-Motors. The leg also features a spring element in the distal segment to reduce the mechanical stress and for measuring the ground contact force by an integrated linear potentiometer. The robot senses the following proprioceptive information: the position of each joint, the amount of current drawn by each motor, the tilt in 2 dimensions (pitch, roll) and the load on each foot tip. Furthermore it is equipped with a compass and a forward facing ultrasound distance sensor. For teleoperating the system and for acquiring data during an experiment, the system has a bi-directional communication link for video transmission with a PAL CCD camera and for data exchange between the robot and an external laptop with a communication and control interface. Thus it is possible to use the robot as a semiautonomous system.
More details can be found at http://ag47.informatik.uni-bremen.de/eng/project.php?id=3&details=ja
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