College students are known for pulling all-nighters, but the Cornell robot Ranger one-upped them and set a new world record by walking 40.5 miles on a single battery charge without stopping or human hand-holding.
游侠，双足机器人建造和康奈尔大学的生物机器人和运动实验室编程，并且由Andy瑞纳，机械和航空航天工程学教授处理，该大学的巴顿大厅的轨道上走了30小时，49分2秒。它涵盖了307.75圈在1.3英里每小时缓行。
Ranger’s previous record was 14.3 miles. Before that, Boston Dynamics’ Bigdog, a four-legged, all-terrain robot, trotted 12.8 miles without refueling. The new Cornell goal was to have a robot walk a full marathon without recharge, which Ranger did in just over 20 hours—and then it kept going. In contrast, at the much-publicized world’s first robot marathon in Osaka, Japan in February, robots were repeatedly recharged.
“We were getting pretty tired by the end,” said Violeta Juarez Crow, an electrical engineering major who steered the robot for dozens of laps around the Barton track. The overall goal of the National Science Foundation-funded research project is to understand walking by reinventing it, said Ruina.
Ranger has six small onboard computers executing about 10,000 lines of computer code. The programs run in a repeating loop every 1/500th of a second. The robot also has dozens of electrical and mechanical sensors. The electronics used 4.7 W.
“It took a bit of effort to keep the computation, sensing and communication energy use low,” said Jason Cortell, a research support specialist who designed most of the electronics on Ranger. “We hope to use what we have developed for more complex robots.”
线性位置传感器提供成比例的运动的一机械臂的量的模拟电压信号。
机器人的总重量为22磅，其中6磅是锂离子电池的电力电子器件和电机。一个这些电动机的延伸的外脚踝，另一个延伸到内踝部和第三摆动腿部。第四较小的马达绞内腿用于转向。马达消耗额外的11.3 W.在16-W总，（每单位距离COT，能量每单位重量）传输的特定成本是一个相对小气0.28焦耳每牛顿米。大多数的机器人使用更多的能量（1.5或以上的典型COT），瑞纳说。虽然游侠仍然效率不高，为典型的人（具有约0.2的COT），机器人的当前的0.28 COT小于其COT一年0.49之前。
“我们已经改善从那时起各种方式控制，” Pranav Bhounsule，研究生负责控制系统的说。“但我认为我们还是可以做的更好。”
虽然大多数腿式机器人通过小心地控制自己的身体的所有关节角度达到稳定，游侠达到它的低能源消耗，尽可能多地，让双腿摆动，他们会的，瑞纳解释。此外，大多数双足机器人站在扁平足。游侠不能在所有挺立;相反，它通过平衡下降，在每一步赶上本身。诀窍是让抓在正确的时间和地点。
瑞娜说，“我们面临的挑战是降低能源消耗，同时仍保持平衡。该成果是涨5美分万元的电费186076个步骤，并没有倒下。......如果我们尝试另一条记录，它会自动转向“。
Cornell Biorobotics and Locomotion Laboratory
www.ruina.tam.cornell.edu/research/index.php
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