Publications

Achieving Versatile Energy Efficiency with the WANDERER Biped Robot

Hobart, Clinton G.; Mazumdar, Anirban; Spencer, Steven; Quigley, Morgan; Smith, Jesper P.; Bertrand, Sylvain; Pratt, Jerry; Kuehl, Michael K.; Buerger, Stephen B.

Legged humanoid robots promise revolutionary mobility and effectiveness in environments built for humans. However, inefficient use of energy significantly limits their practical adoption. The humanoid biped walking anthropomorphic novelly-driven efficient robot for emergency response (WANDERER) achieves versatile, efficient mobility, and high endurance via novel drive-trains and passive joint mechanisms. Results of a test in which WANDERER walked for more than 4 h and covered 2.8 km on a treadmill, are presented. Results of laboratory experiments showing even more efficient walking are also presented and analyzed in this article. WANDERER's energetic performance and endurance are believed to exceed the prior literature in human-scale humanoid robots. This article describes WANDERER, the analytical methods and innovations that enable its design, and system-level energy efficiency results.