{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,9]],"date-time":"2026-03-09T10:06:43Z","timestamp":1773050803911,"version":"3.50.1"},"reference-count":58,"publisher":"SAGE Publications","issue":"10","license":[{"start":{"date-parts":[[2014,6,12]],"date-time":"2014-06-12T00:00:00Z","timestamp":1402531200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2014,9]]},"abstract":"<jats:p> No legged walking robot yet approaches the high reliability and the low power usage of a walking person, even on flat ground. Here we describe a simple robot which makes small progress towards that goal. Ranger is a knee-less four-legged \u2018bipedal\u2019 robot which is energetically and computationally autonomous, except for radio controlled steering. Ranger walked 65.2 km in 186,076 steps in about 31 h without being touched by a human with a total cost of transport [TCOT \u2261 P\/mgv ] of 0.28, similar to human\u2019s TCOT of \u2248 0.3. The high reliability and low energy use were achieved by: (a) development of an accurate bench-test-based simulation; (b) development of an intuitively tuned nominal trajectory based on simple locomotion models; and (c) offline design of a simple reflex-based (that is, event-driven discrete feed-forward) stabilizing controller. Further, once we replaced the intuitively tuned nominal trajectory with a trajectory found from numerical optimization, but still using event-based control, we could further reduce the TCOT to 0.19. At TCOT\u2009=\u20090.19, the robot\u2019s total power of 11.5 W is used by sensors, processors and communications (45%), motor dissipation (\u224834%) and positive mechanical work (\u224821%). Ranger\u2019s reliability and low energy use suggests that simplified implementation of offline trajectory optimization, stabilized by a low-bandwidth reflex-based controller, might lead to the energy-effective reliable walking of more complex robots. <\/jats:p>","DOI":"10.1177\/0278364914527485","type":"journal-article","created":{"date-parts":[[2014,6,13]],"date-time":"2014-06-13T08:23:04Z","timestamp":1402647784000},"page":"1305-1321","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":168,"title":["Low-bandwidth reflex-based control for lower power walking: 65 km on a single battery charge"],"prefix":"10.1177","volume":"33","author":[{"given":"Pranav A.","family":"Bhounsule","sequence":"first","affiliation":[{"name":"Disney Research, Pittsburgh, PA, USA"},{"name":"Mechanical Engineering, Cornell University, Ithaca, NY, USA"}]},{"given":"Jason","family":"Cortell","sequence":"additional","affiliation":[{"name":"Mechanical Engineering, Cornell University, Ithaca, NY, USA"}]},{"given":"Anoop","family":"Grewal","sequence":"additional","affiliation":[{"name":"Mechanical Engineering, Cornell University, Ithaca, NY, USA"}]},{"given":"Bram","family":"Hendriksen","sequence":"additional","affiliation":[{"name":"Delft University of Technology, Delft, The Netherlands"}]},{"given":"J. G. Dani\u00ebl","family":"Karssen","sequence":"additional","affiliation":[{"name":"Delft University of Technology, Delft, The Netherlands"}]},{"given":"Chandana","family":"Paul","sequence":"additional","affiliation":[{"name":"Mechanical Engineering, Cornell University, Ithaca, NY, USA"},{"name":"Engineering and Applied Sciences, Harvard University, Cambridge, MA, USA"}]},{"given":"Andy","family":"Ruina","sequence":"additional","affiliation":[{"name":"Mechanical Engineering, Cornell University, Ithaca, NY, USA"}]}],"member":"179","published-online":{"date-parts":[[2014,6,12]]},"reference":[{"key":"bibr1-0278364914527485","doi-asserted-by":"publisher","DOI":"10.1007\/BF01731318"},{"key":"bibr2-0278364914527485","author":"Bhounsule PA","year":"2014","journal-title":"ASME Journal of Mechanisms and Robotics"},{"key":"bibr3-0278364914527485","author":"Bhounsule PA","year":"2014","journal-title":"ASME Journal of Mechanisms and Robotics"},{"key":"bibr4-0278364914527485","doi-asserted-by":"publisher","DOI":"10.1152\/jappl.1960.15.6.1015"},{"key":"bibr5-0278364914527485","unstructured":"Boston Dynamics (2012) Petman\u2014Bigdog gets a big brother. 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