Little HERMES Bipedal Robot

Little HERMES is a small-scale bipedal robot designed for studying balancing strategies. Due to its small size, it is inherently safer to perform experiments than the full-scale robot HERMES. Each leg is torque controlled, highly backdrivable and has 3 DoF. All the actuators are mounted proximal to the body, reducing leg inertia and CoM state-dependancy.

Little HERMES System got 3rd place at the 2018 MIT Mechanical Engineering de Florez Award Competition, Graduate Design category.

Check Little HERMES featured at Bid Blue Saw here!

Here is the robot trying to balance under perturbation:




The custom actuators and drivers are designed by Ben Katz. The point-feet are custom 3-axis force sensors and are based on the technology developed by Michael Chuah.

J. Ramos, B. Katz, M. Y. M. Chuah and S. Kim, "Facilitating Model-Based Control Through Software-Hardware Co-Design," 2018 IEEE International Conference on Robotics and Automation (ICRA), Brisbane, QLD, 2018, pp. 566-572.