LAURON

LAURON is a research computer science from Karlsruhe ( FZI) developed six-legged walking robot. As a biological model for the mechanics and motion control served the Indian stick insect. The LAURON - walking robot series began with studies of the six-legged walking and led in 1994 to the first running robot LAURON, which was presented at the CeBIT in Hanover to the public. From this first generation, which was in contrast to the current generation still controlled by neural networks, and derives its name of LAURON: Neuronal controlled walking robot. The current generation, LAURON V, was completed in 2013.

Overview

This biologically motivated walking robot has been developed to explore statically stable ride in rough terrain. The flexible behavior-based control, LAURON can adapt unfamiliar situations. The robust mechanical structure and the different running and exercise options guarantee a stable locomotion even in extreme situations. For user- based control of a walking machine panoramic camera was mounted on LAURON. The camera allows the operator to at all times a good overview of the robot and its environment to obtain. Through the use of augmented reality glasses will be the operator for more information about the robot mode are displayed in addition to the camera image.

LAURON is independently perceive its environment in the location and plan the route to a given destination. While running LAURON can to exceed them either, or if necessary to deal with the help of the sensors detect possible obstacles. The running machine is suitable for inspection and service tasks in unstructured, impassable or dangerous for humans terrain, eg when clearing land mines, the exploration of volcanoes or finding buried as a result of natural disasters.

Generations

INSECT (from about 1992)

In the 1990s, work began on LAURON project, which first emerged some prototypes. INSECT 1992, was a wooden prototype of a six-legged walking machine, the computer science research ( FZI) at the Karlsruhe Institute of Technology made ​​. He had no actuators, but was capable of the joint angles of his legs by means of potentiometers to determine.

LAURON I (from about 1994)

LAURON I was set up in late 1993 and 1994 at the Cebit the public. It consisted of aluminum for the central body and fiber-reinforced plastic for the legs, and weighed approximately 11 kg. The robot was controlled by neural networks. The ratio of the leg segments to each other was similarly designed as the stick insect Carausius Morosus, the biological model of LAURON.

LAURON II (from about 1995)

The end of 1994, the second generation of LAURON was developed. It was characterized by a modified design and additional sensors, such as foot pressure and tilt sensors from. Due to the heavier legs, which were now made ​​of aluminum, the weight increased to 16 kg. LAURON II was used as a test platform for various control strategies and for machine learning.

LAURON III (from about 1999)

1999, the third generation of LAURON was constructed. With a weight of 18 kg, the robot was carrying up to 10 kg additional load in the situation. Neuronal networks which have been used in the previous version to control LAURON were replaced with LAURON III by a modular reactive robot controller. In addition to the skiing itself has now been researched with LAURON also in new areas such as localization, navigation and environmental modeling. In the following years, a total of 8 LAURON were constructed III robot systems and sold to various organizations and partners.

LAURON IV (from about 2004)

The fourth generation of LAURON was developed in 2004. The mechanical design has been improved compared to the previous model with respect to the robustness. The cables in the legs were replaced by toothed belt and a new head with 2 degrees of freedom was applied. The central body is made of carbon fiber. LAURON IV weighs 27 kg and can be up to 0.22 m / s run at a speed. Microcontroller, previously used to control LAURON were in LAURON IV replaced by two PCs and embedded special motor control electronics. Furthermore NiMH batteries have been integrated with those LAURON can be operated up to 60 minutes. The current version of the fourth - generation LAURON is LAURON IVc. LAURON IVc was completed in late 2005 and has minor mechanical improvements in the legs and minor hardware changes compared to previous versions. Laurons behavior-based robot control responds quickly to obstacles and terrain deformation and allows this Hexpod also in difficult getting around unstructured terrain safely. Also of this generation were set up multiple systems. A total of three full walking robots have been built and put into operation. The latest version LAURON IVc is since around 2005 at FZI in use.

LAURON V (from about 2013)

The fifth generation LAURON was presented at the international conference robotics IEEE ICRA in the summer of 2013. LAURON V is characterized mainly by the additional rotational joint in the new leg design. This proximal hinge increases the working area of each leg, permits the orientation of the foot relative to the ground to specify and access objects with the front legs and manipulate. The kinematic structure reflects more closely at the biological model and, with the adaptive, behavior-based control even in difficult terrain that is LAURON can safely move. The robustness, flexibility, and the high degree of autonomy are important features that allow it to use LAURON V for demanding inspection and " Search and Rescue " tasks.