Zebro - six legged robot

Research theme: 
Start date: 
Apr 22 2010
Duration: 
5 year
Faculties: 
Mechanical Engineering
BSc student: 
4
MSc student: 
4
PhD student: 
2
Professor: 
1 (includes assistant and part/full-time professors)
Application area: 
Exploration, Service robots
Keywords: 
Agile robots, Nonlinear control, learning control, discrete-event systems
Description: 

Zebro (Zesbenige robot) is power and computational autonomous robot designed on the foundations of RHex. Zebro is designed for education and research to study and develop novel control methodologies for complex robot platforms towards advancing the fields of Control Theory, Estimation Theory, Machine Learning, A.I. and Robotics.

This platform is used for:

• Experimental validation of novel motion control methodologies
• A benchmark system for Reinforcement Learning algorithms
• Developing functional architectures towards the automatic execution of search and rescue (or similar type) missions
• Software integration and Graphical User Interfaces design towards improving man-machine interfaces
• Leg design and experimentation
• High power - small size - low latency electronics design

Contact person: 
Gabriel Lopes
Contact phone: 
03115278548
Publications: 

G.A.D. Lopes, B. Kersbergen, T. van den Boom, B. De Schutter, and R. Babuska On the eigenstructure of a class of max-plus linear systems. IEEE Conference on Decision and Control, 2011

B. Kersbergen, G.A.D. Lopes, T.J.J. van den Boom, B. De Schutter, and R. Babuska Optimal gait switching for legged locomotion. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

D. van der Lijn, G.A.D. Lopes and R. Babuska. Motion Estimation Based on Predator/Prey Vision. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

G.A.D. Lopes, T.J.J. van den Boom, B. De Schutter, and R. Babuska. Modeling and Control of Legged Locomotion via Switching Max-Plus Systems. International Workshop on Discrete Event Systems, 2010

G.A.D. Lopes, R. Babuska, B. De Schutter, and A.J.J. van den Boom. Switching max-plus models for legged locomotion. In Proc. of IEEE Int. Conf. on Robotics and Biomimetics, pages 221–226, Guilin, China, December 2009.

Slideshow: 
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