Project Description

Robust legged platform for highly dynamic motions

Kangaroo robot is a prototype bipedal robot research platform for exploring advanced control methods for legged locomotion. The robot is lightweight with low moving inertia in the legs and suitable for highly dynamic motions such as jumping and running. Each leg has 6 DoF, and a mass of 12.5 kg mostly located in the upper part so that the mechanical design allows for impact resilience and reduced energy consumption.

Side view of Kangaroo, the legged research robotic platform
Kangaroo robot seen from background

Linear actuators and non-linear transmissions

Kangaroo incorporates custom linear actuators with integrated force sensors providing a wide range of motion as well as high speed and torques at the joints. The design takes advantage of nonlinear linkage mechanisms to place all the actuators close to the trunk, making the biped robot research platform closer to classical template models. The non-linear transmission parameters have been optimised to achieve the necessary speeds and torques for jumping but require only low power whilst standing and walking.

Leg length actuator designed for efficiency

Kangaroo robot uses an actuation system for the extension and contraction of the leg that is implemented with only one motor, in contrast to other robots that use multiple actuators at the hip, knee, and ankle. The decoupling of the leg length and hip swing motions with Kangaroo makes the system highly efficient.

Frontal view of Kangaroo robot's feet
Enginee for Kangaroo robot's legged locomotion

Advanced motor control technology

Kangaroo uses a new generation of in-house electronics boards for motor control and sensor acquisition. This choice allows embedding custom and decentralized closed loop force/torque controllers at joint level and provides flexibility for experimenting with different control algorithms and obtaining the best performance from the biped robot research platform.

Areas of use

USED FOR RESEARCH IN:

  • Artificial Intelligence

  • Machine learning

  • Control algorithms

  • Navigation
  • Torque Control

  • Highly reactive and dynamic motion
  • Dynamic Walking
  • Trajectory Optimization
  • High impact resilience

  • Motion planning

FIELDS OF APPLICATION:

Factory of the Future

IoT

Benchmarking

Space exploration

space_exploration

Technical specifications

Contact PAL Robotics and get in touch with a team of experts
who can assess you and provide you more information of Kangaroo.

SPECS

Height145 cm
Weight 40 kg (12kg per leg)
Degree of Freedom (DoF)6 actuated per leg
Battery autonomy6h
OSLinux, Ubuntu, ROS
ActuatorsBall Screw Actuators with Force Sensors

Contact PAL Robotics team if you have any further questions!