Author Topic: Dynamic walking robot (Read 5955 times)

JesseWelling · « **on:** February 28, 2007, 03:49:01 AM »

http://paulgraham.com/anybots.html
I think John H. and these guys should get together

JonHylands · « **Reply #1 on:** February 28, 2007, 05:26:41 AM »

Yeah, I saw that... They are using compressed air !!! Talk about impractical...

- Jon

JesseWelling · « **Reply #2 on:** February 28, 2007, 05:41:12 AM »

I'm no ME but I prefer my locomotion to use DC or Diesel....I guess it's all about the torque for me

inkel · « **Reply #3 on:** February 28, 2007, 11:12:09 AM »

Someone told me the address. I don't know Anybots before.
This biped robot don't like Asimo. It only need simple structure and control, a few energy.

Admin · « **Reply #4 on:** February 28, 2007, 11:19:58 AM »

im impressed . . .

i plan for my biped to be a dynamic walker, as in my head it doesnt seem to be that much harder than a static walker . . . i think its much easier to use compressed air for dynamic walkers because they dont require high precision or repeatability - the sensors handle the unreliability . . .

but perhaps I dont know what im getting into:

"Trevor started working on this problem in May 2001, and it was not till February 2007 that he could even make Dexter lift one foot off the ground and put it down again without falling over."

Im also impressed with his dedication, I dont think I could work on the same robot for that long . . .

JonHylands · « **Reply #5 on:** February 28, 2007, 11:52:27 AM »

Well, they actually have two robots - the biped, and the segway-ish humanoid roller. The roller has what looked like extremely detailed arms and hands, and I suspect a big chunk of those years was spent building Monty (the rolling robot).

http://www.anybots.com/abouttherobots.html

- Jon

Hal9000 · « **Reply #6 on:** March 02, 2007, 06:03:49 AM »

I would say fluids of some sort are vital in creating a robot to mimic the human being. However, I don't know much about it.

JesseWelling · « **Reply #7 on:** March 02, 2007, 11:45:39 AM »

I agree, fluids or hydralucs seem like the would provide a 'bounce'. I guess the other way to get that done is to use ruber tensioners kinda like our tendonds. Maybe the SOR should endevour to make a robot that is dynamicaly walking and has 'bounce'

you know make our mark on the world, do some pr in japan, meet the president....that kind of stuff.

Admin · « **Reply #8 on:** March 02, 2007, 11:52:39 AM »

Actually . . . the robotics conference Im going to in Italy (ICRA) has like 20 (out of like 700) presentations being given about springs within a biped's leg (ankle, toes, heel, etc.). I plan to go to each of those

Oh, and although air muscles would give a fluid motion, they could also act as an energy dampener (meaning low energy efficiency). The exception would be air springs, which is what I might use if the market has what Im looking for . . .

JonHylands · « **Reply #9 on:** March 02, 2007, 01:41:38 PM »

You guys need to look at Series Elastic Actuators - reference the MIT leg lab, and Yobotics, the spin-off that markets them.

- Jon

Joe · « **Reply #10 on:** March 03, 2007, 01:16:03 PM »

This is the part that gets me: "None of the commercial gyroscopes were good enough, he said, so he built his own." Maybe he should be in the gyroscope business since he can make them better than any manufacturer in all the world.

JonHylands · « **Reply #11 on:** March 03, 2007, 02:49:43 PM »

What that really means is "I couldn't figure out how to use the commercial gyros, so I built my own"...

- Jon

Admin · « **Reply #12 on:** March 03, 2007, 03:44:25 PM »

well he probably required the gyroscopes ~5 years ago, back when they were big and expensive and didnt have any special features . . .

on my biped, im still trying to figure out how to isolate the gyro and accelerometer from the sudden shock of each step (i plan for my biped to run, serious) . . . i wonder what his method is . . . perhaps he averages acceleration over some long period of time?

JesseWelling · « **Reply #13 on:** March 03, 2007, 08:27:33 PM »

Maybe some kind of differential high pass filter? maybe you should e-mail him and ask.

Joe · « **Reply #14 on:** March 04, 2007, 12:31:46 AM »

He would never return my email.

I figured it would have something to do with customization but he needs to watch his wording!!!

inkel · « **Reply #15 on:** March 05, 2007, 10:26:04 AM »

Quote from: JesseWelling on March 02, 2007, 11:45:39 AM

Maybe the SOR should endevour to make a robot that is dynamicaly walking and has 'bounce' .....

In this video, Dexter (the robot) is able to jump 11 inches off the ground, land, and successfully balance himself before jumping again. Amazing. Dexter is, as far as we know, the first dynamically balancing biped robot - that is, the first robot that walks like we do.

http://www.youtube.com/watch?v=ZnTy_smY3sw&NR

Admin · « **Reply #16 on:** March 05, 2007, 10:49:00 AM »

i dont believe it is the 'first dynamically balancing biped robot' as there were many of these types of robots made in the 90's at MIT . . . ive also seen a few robo one robots with gyros and accelerometers for balance too . . .

i think this is the first 3D plane human sized dynamically balancing biped robot

oh and that jumping video looks really cool

Hal9000 · « **Reply #17 on:** March 05, 2007, 12:39:43 PM »

I always hate to see cables on a walking robot. It makes it about 300% less magical.

Don't ask me how I came to that figure haha.

inkel · « **Reply #18 on:** March 10, 2007, 07:16:12 AM »

Quote from: Admin on March 05, 2007, 10:49:00 AM

i dont believe it is the 'first dynamically balancing biped robot' as there were many of these types of robots made in the 90's at MIT . . . ive also seen a few robo one robots with gyros and accelerometers for balance too . . .

i think this is the first 3D plane human sized dynamically balancing biped robot

oh and that jumping video looks really cool

i dont think it is the first of this kind . Cornell and Delft had the dynamically biped robots except MIT.

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Author Topic: Dynamic walking robot (Read 5955 times)

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