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RUBI: Robust walking and Underwater capable BIpedal robot
RUBI: Robust walking and Underwater capable BIpedal robot
RUBI is a waterproof bipedal robot developed to extend its operating range into water-exposed environments. It achieves IP67-level waterproofing by sealing its actuators and electronic modules. It is controlled by a reinforcement-learning-based locomotion policy to operate robustly across changes in terrain and environmental conditions.
Specification
Specification
Research achievements with RUBI
Research achievements with RUBI
RUBI walks on terrestrial environments
RUBI walks on terrestrial environments
RUBI is controlled using reinforcement learning and is capable of stable walking on a variety of ground environments, including flat ground, slopes, gravel, and slippery snow.
Development and Reinforcement Learning based Control of RUBI
RUBI at the Humanoid 2025
RUBI walks on water-exposed environments
RUBI walks on water-exposed environments
To expand the robot's operation to water-exposed environments, experiments were conducted under both spray and submersion conditions. These tests verified the robot's waterproof design performance and the stability and robustness of the control algorithm.
Walking of RUBI in Spray and Underwater Environments
Other tasks of RUBI
Other tasks of RUBI
RUBI's point-foot structure makes it structurally disadvantageous for stable self-sufficiency while stationary. Nevertheless, we implemented an algorithm that learns stand-up motion through reinforcement learning and enables the transition to walking after independence.
RUBI, Stand Up!
RUBI-W
RUBI-W
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