Bipedal Robot MABEL Traverses Uneven Terrain Using Touch Instead of Sight





Rating is available when the video has been rented.
This feature is not available right now. Please try again later.
Published on Apr 20, 2012

This video presents a feedback controller that allows MABEL, a kneed planar bipedal robot with 1 m-long legs, to accommodate terrain that presents large unexpected increases and decreases in height. The robot is provided information on neither where the change in terrain height occurs, nor by how much. A finite-state machine was designed to manage the transitions among controllers for flat-ground walking, stepping-up and down, and a trip reflex. When the robot completes a step, the depth of a step-down or height of a step-up can be immediately estimated at impact from the lengths of the legs and the angles of the robot's joints. The change in height can be used to invoke a proper control response. On the other hand, if the swing leg impacts an obstacle during a step, or has a premature impact with the ground, a trip reflex is triggered on the basis of specially designed contact switches on the robot's shins, contact switches on the end of each leg, and the current configuration of the robot. The design of each control mode and the transition conditions among them are illustrated.

All Comments

Comments are disabled for this video.
When autoplay is enabled, a suggested video will automatically play next.

Up next

to add this to Watch Later

Add to

Loading playlists...