MARLO: Dynamic 3D walking based on HZD gait design and BMI constraint selection

BTN LiveBiG was filming MARLO the day we began testing a new method for controller design.

The controller is based on virtual constraints and hybrid zero dynamics (HZD). Here we are testing a new method for designing virtual constraints based on bilinear matrix inequality (BMI) optimization.

MARLO is a 3D robot designed to study principles of dynamic walking. Unlike most other 3D walking robots, MARLO does not have large feet with powered ankles. This forces the robot to balance dynamically, but may lead to more natural and more energetically efficient walking.

MARLO is one of three ATRIAS 2.1 robots designed and built by Prof. Jonathan Hurst and the Dynamic Robotics Laboratory at Oregon State University.