Lego NXT Mindstorms Biped = X 2 Climbing up and down stairs

[macballe]

drag your finger from 1 to 9 for fast version :)

[222Doc]

@Sonicpod0 mindsensors makes them for NXT and many other things as well. Much like Hytechnic.

[222Doc]

@Sonicpod0 One Nxt control brick and 4 Nxtmmx motor mux

[nico71240]

How do you manage to calculate the movement to adjust the cente of gravity ? Is there a calculator in the program or the movement is written in the program ? In any case, your robot is awesome.

[222Doc]

@nico71240 Because this is static movement in a known dimensional space, just to get the task done, it is all set moves in my blocks. My main goal; too see if a Lego Biped could climb steps at all mechanicaly. No matter how advanced the program is in the end I knew that unless the design could do it mechanicaly the programing became secondary to the end goal. So to be first to get to this goal was as KISS as possible. I had in the start had Gyros and tried a sort of PID AI, one day perhaps.

[burf2000]

This is amazing!

[MarcusCardiff]

Very impressive,

especially the centre of gravity adjustments with leaning and sideways "head" displacement that compensate for lack of real time balancing.

[klunk4real]

Very impressing!!!

[Conchinhas]

I've posted this also a few days ago at TechnicBRICKs.

This is a great work indeed!

Now the question I'd like to put. Are this movements autonomous or is it all pre-programed?

Putting it more simply. Is it the same program to make it climb stairs and walk straight on a flat surface, or are they different programs.

I think it is the second option, but decided to ask for my confirmation.

[222Doc]

@Conchinhas

Each step if a right or left is a "my block" set of moves, Going up is a set of moves in a "my block" R/L and down the same. From there my next work in programing is to have it know when do what one, though in this film my main intent was to "get it done". So yes they are seperate programed moves or loops that I hope to soon have a more autonomus state. It is not P.I.D. control That would be very cool but in NXTg would very hard for me to grasp :)  in vector calculus.

[222Doc]

Just a few points, working with Lego has many limits. The whole point is to just see if it can be done with Lego mechanicals. At this point there is not much left on the table for speed. Since speed is a direct relation to power of the motors over weight of the robot. Though it could be geared to be faster, the lose of reduction woud put alot of wear on the Lego servo motors. I tried to keep it K.I.S.S. only 7 dof to climb steps and down. That is why it has odd movments to keep in balance. Thx

[dusandz]

I'd never send him to fetch me some water!

[davidajmartinez]

Thumbs up if you got here from Engadget

[Marindo]

this is very good especially with lego robotics. I know that alot of researcher study to make robots walk and mimic human movement. The speed isn't there yet but we have to take into consideration the hardware and the motor system we're limited with but this looks good nonetheless.

nice to see a robot with some knee and ankle flexion and extension. pretty funny how you got the pelvis or head to act as a counterbalancing torque tho, very smart ^^

[ronchan144]

How???????