The GuRoo

The GuRoo has been built as a research platform for humanoid robot experiments. Work in this field is as varied as dynamic balance, walking gaits, human-robot interaction and biologically inspired control systems. The proportions of GuRoo are based on anthropomorphic data, and match closely to human form and mobility in all major respects. The robot is completely autonomous, with on-board computing provided by a central handheld computer networked to DSP based digital control boards using a CAN bus. Power is supplied by on-board batteries with sufficient energy to power walking gait for one half hour of typical operation. Some global spatial orientation feedback is provided by an onboard electronic Inertial Measurement Unit (eIMU). A basic vision system is currently being implemented.

Inspiration

The design of the GuRoo is based on the human form and is kept as anthropomorphic as possible. Recent studies have shown an increasing demand for mobile robots to work in domestic and service settings, in which the environment is principally designed to meet the ergonomic demands of the human body. Stairs, chairs, offices, kitchens and sport stadiums are all designed with the human body in mind.

Wheeled robots, which presently dominate the mobile robot population, do not readily interact with human-shaped spaces. To enable domestic and service robots to become part of our daily lives, it is essential that current human environments be unmodified: rather the robot shape must be adapted. Clearly, the humanoid shape is the logical choice for a robot that will seamlessly integrate with our human-enabled world. The challenge in shifting to a humanoid platform is to provide locomotion stability and payload capacity to rival the current wheeled robot population. The inherent instability of a two legged robot is the underlying problem that creates this challenge. Unlike multi-legged robots that can benefit from a stable base of three or more contact regions, a humanoid or biped is forced to maintain stability with only one or two contact regions.

Specifications

The mechanical design, control architecture and electronics present on the robot.

Current Research

Work currently being undertaken on the GuRoo robot including both research and hardware improvements.

The GuRoo project is run on a 'no secrets' basis. If you have any technical questions whatsoever, please do not hesitate to contact us.