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BALLU2: A Safe and Affordable Buoyancy Assisted Biped
2021
Frontiers in Robotics and AI
This work presents the first full disclosure of BALLU, Buoyancy Assisted Lightweight Legged Unit, and describes the advantages and challenges of its concept, the hardware design of a new implementation (BALLU2), a motion analysis, and a data-driven walking controller. BALLU is a robot that never falls down due to the buoyancy provided by a set of helium balloons attached to the lightweight body, which solves many issues that hinder current robots from operating close to humans. The advantages
doi:10.3389/frobt.2021.730323
pmid:34957224
pmcid:PMC8692890
fatcat:42hnpy4pjjeejexfngpl6jieza