[Robert Lam] has produced a number of video tutorials, his latest being a tutorial on how to make a biped robot walk. He is mainly covering the individual motions and actions. He doesn’t go into any specific programming, but rather breaks down the act of walking into several motions and discusses the reason you need them as well as some variations. For some this will seem like obvious observations, but we’ve seen plenty of biped robots that attempt to walk without shifting their weight.You can watch this video after the break, but be sure to dig around in some of his other tutorials for plenty of good stuff.
[youtube=http://www.youtube.com/watch?v=Xhz6m6fu494]
Somehow, I was expecting quite a bit more math and quite a bit less “get the foots even”…
@fluidic – yeah… yeah…
I’m surprised more people haven’t been working on dynamic motion using accelerometers or gyros to keep the robot stable.
the ideea is to use what you have.Accelerometers, gyros pretty expensive
So he’s using entirely open loop control. This is pretty vanilla stuff that should be common sense for all of us bipeds that know how to walk.
Closed loop bipedal control gets more interesting. Take a look at what Boston Dynamics is working on http://www.youtube.com/watch?v=67CUudkjEG4
Many others are doing similar work in this field. A lot of academia.
Next make it move like Sumotori dreams? http://www.youtube.com/watch?v=O8KAUoW0Juo
By defintion a robot is a closed loop system, if not, it is just an automata.
And those who think that 3$ for a mems accel. is high priced will be surprise when they will see the price of the servos
This is a very good tutorial.
Even with accelerometers & gyros, making a biped walk is a challenge. I’m speaking from experience. While math does come in handy, once you start working with bipeds, you’ll find that it is much more organic and hands on that you may have initially imagined.
Can you help me in making my 19 dof biped
Later I want to add gyro and accelerometer