Volvo 240

Playing with Robots

Legged Robots

I worked in the area of legged robots for my undergraduate thesis and then later for my PhD. I defended my PhD thesis in May 2009. I performed my research at the National Technical University of Athens, in the Mechanical Engineering Department and specifically in the Control Systems Lab of Prof. Evangelos Papadopoulos. My research was supported by the research program PENED 2003, of the Greek General Secretariat for Research and Technology.

My primary research interest was in the control of one-legged and four-legged robotic systems. During my PhD I developed the control and programmed the hardware prototype for the SAHR (Single Actuated Hopping Robot), which was the first monopod robot which could overcome uneven terrain using only a single motor as actuation, and without any knowledge of its uneven environment. I also developed a controller for a quadruped robot which only used a single actuator per leg.