My bipedal robot finally walking!

After 4 years of research, this robot finally walks! It's not exactly Asimo, but I was working on a smaller budget...

Category:

Entertainment

Tags:

• Bipedal
• Robot

[grimtango5280]

The weight is entirely supported by the internal rod/ram. This means the robot hangs while taking a step. This also means you haven't done any center of mass/gravity calculation which is how a biped actually walk i.e. by shifting the center of gravity for balance when each foot and leg is moved.

I don't understand the need for the rod really? its clearly there to balance the bot. Why wouldnt you want to balance it in hardware and code? isnt that the whole point?

[dwidgit332]

@grimtango5280 The weight is not supported at all by the boom. It is only for lateral support. The purpose of this experiment was to demonstrate the algorithm for a planar robot, not a full 3d robot. The algorithm is called the foot placement "estimator" because some, but not all, of the dynamics are neglected from the calculation and this experiment validated that only the insignificant terms were dropped. A colleague has since proven the theory can also work in the full 3d case.

[williamthomasmi10]

Does it decide when/how to step on it's own, or does it have premeditated commands?

Very cool my friend!!

I once saw one on the television, and it had sort of kneecaps, so it could extend it's legs all the way and not have them hyperextend... Just an idea! Yours moves beautifully!

[dwidgit332]

I'm using a measure of balance that I called a "foot placement estimator. When this estimator moves in front of the standing leg then it means the robot has enough momentum to move onto the next step so the internal state machine changes from push->lift->swing->drop when contact occurs the state machine either goes into a standing state (by command), or onto the next four states of the other foot.

[dimviesel]

the beginning stages of,.....METAL GEAR!

[danielr2d2]

thats the right way. Nature is not always flat ground. Even humans are falling often or nearly falling. The important point is, that the robot has to know how to save him of falling. So.... great work.

[vinmaster25]

cool dude i wanna do something like this but it took you pretty long it seems and im not smart instruction wise ._.

[Kyntheria]

That is neat.

[realloyd20]

CONGRATS MAN! CONGRATS!!

[ChudFapper]

@grimtango5280

How on earth would he be able to program it to balance, when the greatest scientific minds within the field can't do it with their massive budgets?

Every walking robot that's ever been made has basically been cheating, walking like a drunken retard or is pre-programmed to move in a specific pattern, rather than dynamically balancing itself.

[robertlam18]

after 4 years of research but still can't walk on its own ?

[williamthomasmi10]

@dwidgit332 That is so cool!

Congrats on being a genius!