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Image Cheetah-Cub-AL


Cheetah-Cub (https://biorob.epfl.ch/cheetah) was not fundamentally altered from its early development days. Some major changes are introduced with Cheetah-Cub-AL. The leg was redesigned and features now a (to the saggital plane of the leg) symmetric diagonal spring, canceling unwanted bending behavior present in previous Cheetah-Cub-versions. Additionally, making use of classical CNC manufacturing techniques with aluminum in combination with ball-bearings in every joint, friction was reduced, alignment of the axis and repeatability of experiments were improved. The changes to the trunk are little but feature now an easy access to the control board for development purposes. Another major change is the switch to a new operating system, Jokto, that improves stability and ease of use. Tuleu implemented inverse-kinematics of the legs for control purposes. This allowed to tune gaits much faster andmore intuitively. The robot was featured recently in Prof. Ijspeert’s talk in TED Global Geneva.

Key features:
  • It is lightweight, compact, electrically powered
  • It shows self-stabilizing behavior over a large range of speeds with open loop control
  • It is cheap, easy to reproduce, robust, and safe to handle
Possible applications:
  • Exploring different neural networks inspired by animals as high-level controllers
  • Platform as light sensor carrier, such as a small camera
  • Animal gait exploration
  • Researching different feet or legs designs
  • Search and rescue

Technical specifications

RC servo motor:Kondo KRS2350 ICS (8x)
lhip, standing height:0.164m
Mactuators, sum:590g
Active degrees of freedom:8
Gait type:Trot
Body lengths per second:3.88
Froude number FR (v^2/G/lhip):0.4
Maximum speed, vmax:0.8 m/s
Stall torque RC servo:2Nm at 6V
Speed max RC servo:0.16s / 60deg at 6V
Control board:RoBoard RB110
Power supply, tethered:9V to 11V

Access information

Corresponding infrastructureÉcole Polytechnique Fédérale de Lausanne
BioRobotics Lab
LocationRoute Cantonale, 1015 Lausanne, Switzerland
Unit of accessWorking day


Coronavirus pandemic

Dear TERRINet applicants and future users,

we sincerely hope that you are staying safe in these challenging times that we are facing at the moment. The current emergency due to the COVID-19 pandemic has deeply changed our lives. The recent and progressive lock-down forced us to reorganize our working routines in smart working modalities and to shut down the TERRINet infrastructures. Therefore, we regret to inform you that Trans-National Access has been suspended until further notice.

However, we would like to reassure you that we will keep evaluating the proposals submitted for Trans-National Access regularly. Indeed, despite access cannot be allowed for a while, the selected users will be queued and access will take over gradually as soon as the situation will allow it. We also inform you that a special application mechanism has been settled in TERRINet to mitigate the delays that will occur due to the COVID-19.

The Open Call no. 4 is currently open: we are accepting proposals under the new mechanism called "first come, first served". Proposals are directly forwarded to the evaluation panel as soon as they are submitted. Proposals submitted closer to the deadline will be dispatched after that. The deadline for the Open Call n.4 will be on May 31, 2020.

Do not hesitate! Get this unique opportunity to be granted with fully-covered access (including travel and accommodation costs) to 15 leading European robotics labs and 100+ best robotic platforms and to get in touch with leading robotic experts. 

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TERRINet team