Questions tagged [legged]

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0answers
28 views

Robot dynamic control

This can be a basic question but according to my knowledge I don’t know answer. We can use control system theories to control the position of motor. Considering two motor joint leg it can model and ...
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1answer
587 views

Why do roboticists choose a bird-like leg over a humanoid leg?

When thinking about robots that emulate animals, I would think roboticists would try to emulate humans which have distinctly forward jointed legs. Yet, I see in many instances that robots have more ...
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0answers
11 views

Legged Design for Desert/Dune Exploration

I am currently in the process of writing a short sci-fi play about a team of researchers on Titan. With them, I'd like to have two four-legged robots (which would be actors in costumes). I'd like them ...
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1answer
110 views

Why don't bipedal robots ever feature natural movement?

I'm a programmer and I've decided to make some bots for fun. I might start with wheels but my ultimate goal is to make bipedal robots. To that end I first decided to watch a bunch of videos of such ...
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0answers
125 views

Quadrapod vs Hexapod [closed]

I want to build a robot, but I don't know if I want to build a quadrapod or a hexapod. I would like to use three servos/leg. Can you tell me what are the pros and cons of quadrapods compared to ...
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0answers
52 views

Question regarding the orientation of Coxa servos in a HEXAPOD

I'm making a Hexapod robot (this is my first robotics project ever) and I'm having a hard time deciding the orientation of the servo motors on the COXA section. The hexapod I'm making is based on this ...
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2answers
1k views

Lifting robotic leg with only one servo

Note before I start: I have not actually put anything together yet, i'm still just planning, so any changes that require a shape change or anything like that are accepted. I'm working on making a ...
-1
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1answer
56 views

Robotic legs technologies [closed]

what robotic leg technologies are available. i'm sorry if this is a basic question i am a software developer looking to get into the field of robotics. i am particularly interested in robotic legs ...
9
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1answer
202 views

How do I decide the size of the time steps between sensing and control actuation?

My Background: My experience is in solid mechanics and FEA. So I have zero experience in robotics/controls. Problem Description I'm developing a control strategy to stabilize a complicated 6-...
1
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0answers
30 views

Unilateral Torque Constraint on the foot-ground interface

I was studying the basics of legged locomotion and came across the unilateral force and torque constraints at the foot-ground interface. I understood the implication of the unilateral constraint on ...
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5answers
1k views

Why Make Bipedal Robots?

A friend and colleague of mine who studies robotics says that bipedal robots present much greater challenges for stability and locomotion than those with more legs. So why is there so much effort to ...
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1answer
476 views

biped walking using Genetic Algorithm

I am working on a project but I lack advanced programming knowledge, especially about genetic algorithms. I am developing a prototype using WEBOTS 7.4.3 for the simulation. The project is to use ...
5
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1answer
96 views

Guidance for compensating internal forces on closed loop chain

I'm working on a legged robot and generating joint torques. Basically the robot seems to be statically stable to some extend. The robot goes instable if the center of pressure moves to the border of ...
5
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3answers
102 views

Single power source for electronics and actuators

It seems popular to build robotic systems with separate supplies for the electronics and motors/servos, but what would be involved in a circuit that powers both from one source? If it helps, here is ...
5
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2answers
344 views

PID Conundrums for Legged Robots

I am currently working on a legged hexapod which moves around using a tripod gait. I have two sets of code to control the tripod. Set 1: Time based control In this code set, I set the tripod motor ...