3D Printed Expert
German Aerospace Center (DLR)

Bert is a small robotic quadruped developed at German Aerospace Center (DLR), Institute of robotic and Mechatronics that knows 3D printing from a first-hand experience. Based on an existing leg-kinematics, it was designed, manufactured and assembled in the timespan between April and August 2016. Each leg is driven by two series elastic actuators, employing physical springs storing energy and isolating the gear from external impacts acting on the legs. Main research topic on Bert is the design of whole-body-eigenmodes as close to the gait pattern as possible, archiving highest stability and efficiency with lowest possible control effort.