First Steps of the IIT Compliant Humanoid Robot: Preliminary Dynamic Walking Experiments

In order to explore compliant humanoid characteristics, we developed a passive compliant bipedal robot. The robot has a total 17 of DOF (degrees of freedom); 6 active and 1 passive (toe joint) DOF
in each leg, and 3 active DOF at the waist to be able to obtain greater motion flexibility. Each joint incorporates three position sensors (2 absolute and 1 relative) and one torque sensor.
The robot is also equipped with 6-axis Force/Torque sensors at the ankles and five 1-axis load cells on the foot sole. In addition, cCub has a 3-axis rate gyro sensor and a
3-axis accelerometer, located at the pelvis. In its electronic hardware structure, the main controller is an Intel Core 2 Duo 1.5 GHz dual processor with 3.0 GB RAM, running on a 32-bit GNU/Linux operating system that is based on a real time Xenomai extension. Data communication is performed via real-time Ethernet protocol called RTnet. These are the preliminary dynamic walking experiments conducted on the compliant humanoid. Walking patterns are generated using ZMP criterion and computed in real-time.

Category:

Science & Technology

Tags:

• iit
• robot
• Compliant Humanoid Robot

[vikaskarade]

It cant terminate us till we got dicks :| which they dont have :|

[Deathbringer99699]

first steps of the end of the human kind..

this fuck will terminate us..

if its not war..

it will be "unemployment"..

humans will be without work..

[Doomer703]

No top comment? ... Now is my chance!

[makaleleara]

quite smooth walk. but a little slow. very nice for first experimentation stage

[isaacjarvis27]

wow great technologie!

[lhasty]

baby steps first, Ccub...

[wlorenz65]

It doesn't walk like a child. The Latin letter C stands for "hundred" ... you are building an old man!

This also explains why his learning capabilities are so poor.

[weezl81]

very cool :)

[Madmonkeythegreat]

It needs to be able to keep walking if it gets cut in half. :D