RiSE Platform Description

The Rise Platform is an early prototype of the RiSE Robot from Boston Dynamics, developed by the RiSEConsortiumMembers. The robot is a hexapod with two degrees of freedom per leg. When equipped with spiny feet (adapted from SpinyBot), it can climb concrete, brick and stucco walls. The legs are designed to fold inward for trotting on horizontal surfaces and sprawl outward for climbing, as seen at right during demonstrations at SWRI. A four-legged variant of the RisePlatform, QuadraRiSE, has been used at Stanford to test climbing gaits and control algorithms.

The RiSE platform runs QNX 6.1.0 on a Geode 266MHz processor. The body (v1.0) contains 12 Maxon RE motors and a 4-bar linkage connected through a differential (v1.2 uses a belt drive system) that reveals 2 DOF (wing and crank angle) per leg. The leg position is controlled by RMCs (RiSE motor controller) that use PD control. Currently the body uses LSANs (leg sensing and actuation node) to collect sensor info (accelerometer, potentiometer on 4-bar joint) for feedback. Generarally, BDI designed the robot hardware, CMU devloped the software, and Stanford developed the feet and some related sensing.

Partial list of RiSE pages

RiSEExperimentLog

QuadraRiSE

RisePlatformStatus

RisePlatformSetup

RisePlatformTestInstructions

RiSEPlatformUpdatingCodeNotes

RiSEPlatformAlanCodeComments

RisePlatformGaitBuilder

• Notes on modifying gaits