Ghost Robotics

Robots that feel the world™

Why Legged Robots

Powerful computers, capable sensors, and smart algorithms deserve an intelligent body.

Legged animals excel in nature, rough terrain, and the built environment. Legged robots are quickly following suit.

Unparalleled mobility: robots can use legs to walk over rough terrain, climb walls, and run up stairs.
Basic manipulation: the legs can also be used to manipulate the surroundings in a variety of ways, from pushing obstacles to opening doors, and can give exteroceptive sensors the right perspective
Dynamic behaviors: legged robots can direct normal forces to jump over obstacles, onto ledges, or to reorient the body.

Why direct-drive

Ghost Robotics uses patent-pending direct-drive (DD) technology to eliminate the gearbox typically paired with rotary electric motors. Gearboxes are fragile, inefficient, and obstruct the motor's ability to feel the world. Direct-drive motors can be programmed to mimic spring-damper systems with tunable active compliance.

Direct-drive is different from typical electrical application paradigms in robotics, namely:

  1. High gear ratio machines such as ASIMO
  2. Series elastic actuators as found in ATRIAS
  3. Lower gear ratio machines like the MIT Cheetah

Direct-drive Advantages

Actuator transparency: the motors can easily be backdriven by external forces because of low reflected inertia and various frictions (see video).
Mechanical robustness: no fragile gears to protect from impacts.
High bandwidth: no gear reduction provides unparalleled actuator bandwidth.

Ghost Robotics, Ghost Minitaur, and "robots that feel the world" are trademarks of Ghost Robotics LLC. Patents pending

3401 Grays Ferry Ave. Bldg. 212-140, Philadelphia, PA, 19146, USA