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8 inch (20 cm) Blind Step-down Experiment on Bipedal Robot MABEL

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Uploaded on Sep 16, 2011

This video presents experimental documentation of a feedback controller that allows MABEL, a kneed, planar bipedal robot, with 1 m-long legs, to accommodate an abrupt 20 cm decrease in ground height. The robot is provided information on neither where the step down occurs, nor by how much. After the robot has stepped off a raised platform, however, the height of the platform can be estimated from the lengths of the legs and the angles of the robot's joints. A real-time control strategy is implemented that uses this on-line estimate of step-down height to switch from a baseline controller, that is designed for flat-ground walking, to a second controller, that is designed to attenuate torso oscillation resulting from the step-down disturbance. After two steps, the baseline controller is re-applied. The control strategy was developed on a simplified model of the robot and then verified on a more realistic model before being deployed experimentally.

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