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Charlie

Charlie

Charlie is a hominid robot with active spine and sensor-rich feet enabling quadrupedal and bipedal walking for advanced mobility research.
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Specifications
Dev Doc
Website
Made by
Deutsches Forschungszentrum für Künstliche Intelligenz GmbH (DFKI) – Robotics Innovation Center
Software Type
Closed Source
Software Package
Linux OS with custom control software written in C, C++, and VHDL. Real-time control and sensor fusion algorithms. Support for machine learning-based motion optimization.
Actuators
8 * 48V RoboDrive motors with a 1:50 HarmonicDrive gear, 8 * 48V RoboDrive motors with a 1:80 HarmonicDrive gear, 4 BLDC Faulhaber-2250 motors as well as 6 BLDC Faulhaber 2444 Motors.
Compiute
ARM Cortex-A8 processor for high-level control. Custom FPGA controllers for joint-level motor control and sensor processing.
Sensors
Joints: Positions (absolute and relative), speed, current, supply voltage, temperature; Foot: 49 pressure sensors, a three axis acceleration sensor, one distance sensor, three absolute position sensors, one temperature sensor, and one 6DoF force-torque sensor; Spine: 2x6 Positions sensors (absolute and relative), 6x1DoF force sensors; Body: Inertial Measurement Unit, battery voltage.
Max Op. time
60
mins
Research
Germany
Quadrupedal
2012
Pricing
Not provided.

Robot Brief

Charlie is a hominid-inspired legged robot developed by the Robotics Innovation Center at DFKI, Germany. It features an active artificial spine and sensor-rich multi-point contact feet, designed to study and replicate complex locomotion patterns including both quadrupedal and bipedal walking. The robot’s development aims to advance research in robot mobility and perception, with a focus on understanding the evolution and transfer of motion patterns from four-legged to two-legged locomotion. Physically, Charlie stands 75 cm tall in quadrupedal posture and up to 130 cm when upright, weighs about 21.5 kg, and incorporates a lightweight, robust frame housing control electronics in the upper body and power systems in the hips.

Use Cases

  • Quadrupedal and Bipedal Locomotion: Moves on four legs like a chimpanzee and can stand or walk on two legs.
  • Active Spine Control: Uses a flexible spine with 6 degrees of freedom to improve balance, stability, and motion range.
  • Terrain Adaptation: Equipped with about 60 tactile sensors in its feet to detect ground contact and adapt to uneven surfaces.
  • Self-Righting: Can transition from lying down to standing autonomously using spine and limb coordination.
  • Motion Pattern Research: Serves as a platform to study and transfer locomotion strategies between quadrupedal and bipedal gaits.

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Industries

  • Robotics Research: Fundamental research in legged robot mobility and perception.
  • Evolutionary Biology: Provides insights into the biomechanics and evolution of bipedal walking.
  • Space Robotics: Potential applications in planetary exploration requiring versatile locomotion.
  • Advanced Control Systems: Development of adaptive control algorithms for complex robot dynamics.

Specifications

Length
-
660
mm
Width
-
430
mm
Height (ResT)
-
750
mm
Height (Stand)
-
mm
Height (Min)
mm
Height (Max)
mm
Weight (With Batt.)
-
18
kg
Weight (NO Batt.)
-
kg
Max Step Height
-
mm
Max Slope
+/-
-
°
Op. Temp (min)
-
°C
Op. Temp (Max)
-
°C
Ingress Rating
-
No items found.

Intro

Charlie is a lightweight, hominid-style robot with a height of 75 cm in quadrupedal posture and 130 cm when standing upright. It weighs 21.5 kg including batteries and features an active artificial spine that bends in multiple directions to enhance mobility and balance. The robot’s feet are embedded with around 60 tactile sensors to precisely monitor ground contact forces, enabling it to adapt its gait to uneven terrain. Control electronics are housed in the upper body, while the power supply is located in the hip area. Charlie is powered by a 44.4 V, 2.4 Ah lithium polymer battery and actuated by multiple brushless DC motors distributed across limbs, spine, and head.

Connectivity

  • Embedded ARM Cortex-A8 processor with wireless 802.11b/g for communication.
  • FPGA-based joint controllers for real-time motor control and sensor data processing.

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Capabilities

  • Dual Locomotion Modes: Efficiently switches between quadrupedal and bipedal walking.
  • Active Spine Mobility: Six degrees of freedom in the spine allow complex bending and twisting for better balance and maneuverability.
  • Tactile Ground Sensing: Multi-point foot sensors provide detailed contact feedback for stable walking on uneven or inclined surfaces.
  • Self-Righting Behavior: Can autonomously recover from a fall to a stable standing posture.
  • Multi-DOF Control: 36 active and 6 passive degrees of freedom enable complex limb and head movements.

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