S1

General description of the walking machine project

Name of the walking machine/project:$S1$
Begin and end of the Project:$Jan.\; 1992\; -\; May\; 1995$
Project costs:$2300\; DM$
Building effort [person years]:$1$
Source of financial support:$Internal\; Research\; Project\; founded\; by\; the\; University\; of\; Leipzig,$
Germany

Research group

Neuroinformatics Reserch Group

Staff of the project:

PD. Dr. A. Schierwagen (Director Computational Neuroscience)
PD. Dr. R. Der (Director Neural Networks)
Hagen Stanek

Information via www:

Contact address:

PD. Dr. A. Schierwagen, University of Leipzig, Institute of Computer Science
Augustusplatz 10-11, D-04109 Leipzig, Germany
Tel: ++49 341 973 2234, Fax.: ++49 341 9732 209, Email: schierwa@aix550.informatik.uni-leipzig.de

Technical data of the walking machine

Dimension		Capacity		Mobility		Energy supply
Length	1.8m	Max. speed	0,15m/s	Number of legs	6	Energy supply	DC
Height	0.5m	Weight	20kg	Act. degrees of freedom	18	Power supply	12V DC
Width	0.9m	Load	-	Pas. degrees of freedom	0	Power consumption	100Watt

References

SAICO

General description of the walking machine project

Name of the walking machine/project:$SAICO$
Begin and end of the Project:$1\; January\; 1997\; to\; 22\; April\; 1997$
Project costs:$11000\; Pesos\; mexicanos$
Building effort [person years]:$$
Source of financial support:$Grupo\; Scanda$

Research group

Grupo SAICO

Staff of the project:

Lilia Aguilera Cánovas, Eduardo Capdeville Cureño, Jeovanni Omar Flores Barrón
Cynthia Gavito Paredes, Francisco Filiberto Isgleas Guzmán,
Luis Roberto Muñiz Muñiz, Gustavo Ernesto Quintana Cámara,
Tania Ramírez Martñinez, Maria de los Angeles Romano Morales,

Information via www: http://www.ulsa.mx/~saico.html

Contact address:

Ing. Hugo Banda Olvera, Grupo SAICO, Universidad La Salle
México D.F., México
Tel: 516 99 60, Fax: , Email: saico@helios.lci.ulsa.mx

Technical data of the walking machine

Dimension		Capacity		Mobility		Energy supply
Length	0.29m	Max. speed		Number of legs	2	Energy supply	DC-servos
Height	1.1m	Weight	12kg	Act. degrees of freedom	12	Power supply	12V DC (two batteries)
Width	0.56m	Load		Pas. degrees of freedom	0	Power consumption	12 Volts to 7 Ampers per hour

References

see SAICO www-page http://www.ulsa.mx/saico.html

SAICO II f5

General description of the walking machine project

Name of the walking machine/project:$SAICO\; II\; f5$
Begin and end of the Project:$July\; 1997\; -\; April\; 1998$
Project costs:$$
Building effort [person years]:$$
Source of financial support:$Universidad\; La\; Salle,\; Steren\; de\; Mexico,\; Anixter\; de\; Mexico$

Research group

S.A.I.C.O.

Staff of the project:

Francisco Javier Aurioles Moreno, M.C. Hugo Banda Olvera, Eduardo Capdeville Cureo,
Cet Kevin Colin Arizpe, Jose Luis Duran Suari, Jeovanni Omar Flores Barron,
Enrique Joel Haro Cedeo, Claudia Marisela Martinez Andrade,Luis Roberto Muiz,
Angel Lara Barrera, Gustavo Ernesto Quintana Camara, Jose Luis Zurita Escobar

Information via www: http://helios.lci.ulsa.mx/~saico

Contact address:

M.C. Hugo Banda Olvera, UNIVERSIDAD LA SALLE A.C.,
Benjamin Franklin #47, Mexico City, Mexico
Tel. +525 5169960 2239, Email: saico@helios.lci.ulsa.mx

Technical data of the walking machine

Dimension		Capacity		Mobility		Energy supply
Length	0.28m	Max. speed	0.7m/s	Number of legs	2	Energy supply	DC-servos
Hight	1.327m	Weight	18kg	Act. degrees of freedom	10	Power supply	12V DC
Width	0.47m	Load	4kg	Pas. degrees of freedom	8	Power consumption	1.2 Amp * Hour

References

Salford Lady

General description of the walking machine project

Name of the walking machine/project:$Salford\; Lady$
Begin and end of the Project:$1992\; to\; present$
Project costs:$$
Building effort [person years]:$2,6\; years$
Source of financial support:$University\; of\; Salford$

Research group

Control and Robot Locomotion, University of Salford,

Staff of the project:

Dr.G.A.Medrano-Cerda
Dr.E.E.Eldukhri
Mr.D.Akdas

Information via www: http://www.salford.ac.uk/telford/Cybernetics/Cybernetics_Home.html

Contact address:

Dr.G.A.Medrano-Cerda, University of Salford, Telford Research Institute of Cybernetics
The Crescent, Salford, Salford M5 4WT, U.K.
Tel: ++44 161-295-4916 Fax: ++44 161-295-5145, Email: g.a.medrano-cerda@eee.salford.ac.uk

Technical data of the walking machine

Dimension		Capacity		Mobility		Energy supply
Length	0.8m	Max. speed	0.03m/s	Number of legs	2	Energy supply	DC-servos
Hight	1.7m	Weight	12kg	Act. degrees of freedom	8	Power supply	14V DC
Width	0.7m	Load		Pas. degrees of freedom	0	Power consumption	50 A (peak)

References

[Medrano-Cerda and Eldukhri, 1997]

SAP Robot (Pneumatic Actuated System)

General description of the walking machine project

Name of the walking machine/project:$SAP\; Robot\; (Pneumatic\; Actuated\; System)$
Begin and end of the Project:$1994$
Project costs:$$
Building effort [person years]:$not\; defined\; (3\; reseachers)$
Source of financial support:$CNRS\; and\; University\; of\; Versailles$

Research group

CAR (Commande et Apprentissage de Robots)

Staff of the project:

Researchers of Laboratory of Robotics of Paris (LRP)

Information via www:

Contact address:

Prof M'Sirdi K. Nacer, LRP - University of Versailles
LRP 10 Avenue de l'Europe, 78140 VELIZY, France
Tel: ++ 33 1 39 25 49 68, Fax ++331 39 25 49 67, Email: msirdi@robot.uvsq.fr

Technical data of the walking machine

Dimension		Capacity		Mobility		Energy supply
Length	0.6m	Max. speed		Number of legs	2	Energy supply	DC-servos
Hight	0.55m	Weight	10kg	Act. degrees of freedom	4	Power supply	12V DC
Width	0.4m	Load		Pas. degrees of freedom	2	Power consumption	pneumatic (7bars)

References

[Tzafestas et al., 1997], [M`Sirdi et al., 1996a], [M`Sirdi et al., 1996b], [Djemai et al., 1998],[Manamanni et al., 1996a], [Manamanni et al., 1997], [Manamanni et al., 1996b], [M`Sirdi et al., 1997], [Benallegue et al., 1998], [M`Sirdi et al., 1998a], [Manamanni et al., 1998b], [Manamanni et al., 1998a], [M`Sirdi et al., 1998b], [M`Sirdi et al., 1998c]

ARL Scout I

General description of the walking machine project

Name of the walking machine/project:$ARL\; Scout\; I$
Begin and end of the Project:$October\; 1996\; to\; Present$
Project costs:$2020\; Can\; Dollars\; (20\; Mech.,\; Computer\; 2000)$
Building effort [person years]:$2\; (Approximate)$
Source of financial support:$Natural\; Sciences\; and\; Engineering\; Research\; Council\; of\; Canada\; (NSERC)$

Research group

Ambulatory Robotics Laboratory, Centre for Intelligent Machines, McGill University

Staff of the project:

Director: Professor Martin Buehler
Principle Investigator: Ken Yamazaki
Support By: Mojtaba Ahmadi, Robert Battaglia, Anca Cocosco, Martin de Lasa, Nadim El-fata
Nadim El-fata, Geoff Hawker, Marc LeBlanc, Dave McMordie, Sami Obaid, Joseph Sarkis

Information via www: http://www.cim.mcgill.ca/~arlweb

Contact address:

Prof. Dr. Martin Buehler, Centre for Intelligent Machines, McGill University
3480 University Street, Room 423, Montreal, Quebec, Canada, H3A 2A7
Tel: ++1 514 398-8985, Fax: ++1 514 398-7348, Email: buehler@cim.mcgill.ca

Technical data of the walking machine

Dimension		Capacity		Mobility		Energy supply
Length	0.26m	Max. speed	0.1m/s	Number of legs	4	Energy supply	Electric
Height	0.27m	Weight	2.3kg	Act. degrees of freedom	4	Power supply	NiCD Batteries (2.6 Ahr @ 6V)
Width	0.23m	Load		Pas. degrees of freedom	0	Power consumption	10 minutes of continuous walking

References

http://www.cim.mcgill.ca/ arlweb (Under the publications section)

SHERPA

General description of the walking machine project

Name of the walking machine/project:$SHERPA\; (Legged\; Autonomous\; Robot\; Neural\; Controlled)$
Begin and end of the Project:$1992\; -$
Project costs:$$
Building effort [person years]:$$
Source of financial support:$Funding\; by\; the\; EU$

Research group

CEA, Service de Teleoperation et de Robotique, France

Staff of the project:

Philippe Garrec (Email: garrec@cyborg.cea.fr)

Information via www:

Contact address:

Philippe Garrec, CEA, Service de Teleoperation et de Robotique
Fontenay-aux-Roses, France
Tel: ++33/1/46.54.89.94, Fax: ++33/1/46.54.75.80, Email: garrec@cyborg.cea.fr

Technical data of the walking machine

Dimension		Capacity		Mobility		Energy supply
Platform diameter	0.68m	Max. speed	5 to 6 m/s	Number of legs	6	Energy supply	On-board battery
Height	1.20m to 1.95m	Weight	490kg	Act. degrees of freedom	18	Power supply	for each leg 3 DC-motors
Minimum width	0.76m	Payload	200 to 300 kg	Pas. degrees of freedom		Power consumption

References

SILEX

General description of the walking machine project

Name of the walking machine/project:$IOAN$
Begin and end of the Project:$1991\; -\; up\; to\; day$
Project costs:$about\; 1.000.000\; BEF\; (Belgian\; Franc)$
Building effort [person years]:$$
Source of financial support:$partially\; supported\; by\; Teleman$

Research group

Department of Mechanical Engineering and Robotics

Staff of the project:

Prof. Dr. Andre Preumount (director)
Mr. Paul Alexandre
Mr Yves Ngounou
Mr Ioan Doroftei

Information via www: http://www.ulb.ac.be/scmero

Contact address:

Mr Paul Alexandre, ULB Service des Constructions Mecaniques et Robotique
50, Avenue F.D Roosevelt CP 165, 1050 Bruxelles (Belgique)
Tel: ++32 2 650 26 87, Fax: ++32 2 650 46 60, Email: scmero@ulb.ac.be

Technical data of the walking machine

Dimension		Capacity		Mobility		Energy supply
Length	hexagonal	Max. speed	0.1m/s	Number of legs	6	Energy supply	DC-servos
Height		Weight	15kg	Act. degrees of freedom	18	Power supply
Width		Load	5kg	Pas. degrees of freedom	0	Power consumption	6oWatt

References

[A.Preumont, 1994, A.Preumont and Alexandre, 1994, Alexandre and Preumont, 1995]

SpringWalker bipedal exoskeleton

General description of the walking machine project

Name of the walking machine/project:$SpringWalker\; bipedal\; exoskeleton$
Begin and end of the Project:$1986-present$
Project costs:$$
Building effort [person years]:$5$
Source of financial support:$Personal\; resources,\; private\; investors$

Research group

Applied Motion, Inc.

Staff of the project:

John Dick
Bruce Crapuchettes
Eric Edwards

Information via www: http://www.springwalker.com

Contact address:

John Dick, Applied Motion, Inc.
935 N. Indian Hill Blvd., Claremont, CA 91711, USA
Tel: ++ 1 909 626 4622, Email: jdick@springwalker.com

Technical data of the walking machine

Dimension		Capacity		Mobility		Energy supply
Length		Max. speed	4.5m/s	Number of legs	2	Energy supply	DC-servos
Hight	2.1m	Weight	28kg	Act. degrees of freedom	2	Power supply
Width		Load	90kg	Pas. degrees of freedom	4	Power consumption	200Watt

References

Articles about the Spring Walker can be found in:
New Scientist April 18, 1992,
Scientific American August 1992 p118,
Discover Magazine Dec. 1992,
Fortune Magazine, July 8, 1996, p 82

The STIC Insect

General description of the walking machine project

Name of the walking machine/project:$The\; STIC\; Insect$
Begin and end of the Project:$February\; 1994\; to\; November\; 1997$
Project costs:$$
Building effort [person years]:$3$
Source of financial support:$University\; of\; Southern\; Queensland,\; National\; Centre\; for\; Engineering\; in\; Agriculture,\; Australia$

Research group

Mechatronics Research Group, USQ

Staff of the project:

Sam Cubero Jr (BE Hons Mech)
Prof. John Billingsley

Information via www: http://neptune.eng.usq.edu.au/~cubero

Contact address:

Prof.John Billingsley, Faculty of Engineering and Surveying
University of Southern Queensland, Toowoomba, QLD 4350, Australia
Tel: ++61 76 31 2978, Fax: ++61 076 31 1870, Email: billings@usq.edu.au

Technical data of the walking machine

Dimension		Capacity		Mobility		Energy supply
Length	1.6m	Max. speed		Number of legs	4	Energy supply	compressed air 6 bar
Hight	1.2m	Weight	10kg	Act. degrees of freedom	12	Power supply	5V, 10A, +/- 12v
Width	1.2m	Load	50kg	Pas. degrees of freedom	0	Power consumption

References