The PETMAN and Atlas Robots at Boston Dynamics

Abstract

In 2008, Boston Dynamics began the development of a series of humanoid robots. The goal was to build bipeds with advanced mobility and dexterity. Our first bipeds, the PETMAN robots, later evolved into three different versions of Atlas. Collectively we programmed these robots to walk at human speeds, cross rock fields, climb stairs and inclines, and negotiate outdoor terrain. We also experimented with augmenting balance using angular momentum. Here we recount the development of these machines and the locomotion behaviors we were able to demonstrate with them.