CARL

Overview

CARL (Compliant Robotic Leg) is a planar robotic leg designed for bio-inspired, human-like bipedal locomotion research. It features mono- and bi-articular actuation using custom RRLab Series Elastic Actuators (SEAs) that provide force/impedance control and inherent tolerance against impact forces. The leg employs four-bar linkages and redundant actuation coupled across five SEAs, with an off-the-shelf prosthetic foot. It is integrated with a test rig incorporating a treadmill and lifting mechanism to enable single-leg walking validation and control of the Bio-inspired Behavior-Based Bipedal Locomotion Control (B4LC) framework.

Key facts

Payload

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Reach

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Speed

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Weight

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IP rating

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Battery

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Power

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Autonomy

semi-autonomous

Launch year

2017

Price

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Status

active