Slow Walking of Bipedal Robot MABEL

MABEL slows down its walking speed.

The same feedback controller is being used throughout the entire experiment. It is designed for a walking speed of 0.8 m/s (1.8 mph). The objective here is to see how slow the robot can walk using this controller.

The angle of the torso strongly affects the speed of the robot because approximately 40 Kg (88 pounds) of MABEL's approximately 60 Kg (132 pounds) total mass is located in the torso. If you lean the torso forward, the robot speeds up, and if you lean it back, the robot slows down. Every half lap or so, we lean the torso back a bit more. This is done until the robot is moving too slowly to overcome the ``potential energy barrier'' present at the mid stance, at which point it falls backward.

One key point to note is that the boom is not holding up the robot. When it falls, it heads to the ground, and only the safety cable prevents it from banging around on the floor, and bending something in the process. Another key note is the remarkable balance of the machine. Just when you think that it must be going so slow it has to fall, it somehow keeps on going.

Category:

Science & Technology

Tags:

• Mabel
• Walking
• Robot
• Biped

[Louie1157able]

I must go recharge my batteries...I'll be bock

[MakerNation]

KILL IT KILL WITH FIRE!!!!