Questions tagged [walking-robot]

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How to derive the CoG Jacobian for biped robot?

I'm trying to derive the Center of Gravity Jacobian of a biped robot. I think that the Jacobian has a method of obtaining by partial differentiation and a method of obtaining it geometrically. This ...
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1answer
59 views

Walking on the spot before moving

my question revolves around 4 limbs robot ( but maybe even 2 limbs ) walking. As i see in many videos robots start "walking on the spot" in order to balance before actually moving somewhere. Why is ...
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1answer
69 views

How to derive the Jacobian for a floating base linkage?

I am trying to determine the Jacobian for a planar bipedal robot. I'm modeling it as a floating base system with 5 links (floating base and 2 two-link legs), which seems to be the common approach. I ...
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1answer
97 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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1answer
69 views

How do the joint angles of a 4-legged impact the body's position with respect to the world frame?

For a four-legged robot (like Big Dog or the one shown here) how are the joint angles and "feet" position related to the body's frame in the world/inertial frame? For example, if I know the body's ...
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2answers
202 views

Biped Robot not getting on one foot

I am creating a biped robot with an arduino and I have the lower part of the body complete, the legs and hip joints. Before I am going to 3D print the top part of the body I wanted to make sure that ...
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4answers
448 views

Why is it so hard to walk?

At least, on two legs. Asimo, one of the best known humanoid robots, is already capable to walk, although it doesn't seem to do this very stable. And it is a recent result. As far I know, the legs ...
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2answers
99 views

I'm looking for hands-on experience with different types of leg and hip designs for walking robots [closed]

I'm looking to find out, How do human-like legs compare to chicken legs and four-leg systems. In terms of cost, performance, speed, strength and accuracy. I'm interested in things like speed, agility,...
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2answers
264 views

Angular momentum of rimless wheel in Passive Dynamic Walking

In Tad McGeer's work, Passive Dynamic Walking, in 1990, he mentions the rimless wheel model, which is used to approximate the bipedal locomotion. I can't understand why the angular momentum is written ...
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0answers
124 views

What frames are supported by the Dynamixel XL-320 OLLO?

I was recently looking into purchasing either a Dynamixel AX-12A or XL-320. The XL seems to use OLLO frames, which only seem to be available in a toy-like set. I was wondering if there are any other ...
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2answers
272 views

Do walking robots use accelerometers?

My understanding of walking robots (e.g. https://www.youtube.com/watch?v=xJlkBBdyBYI) is that they use a gyroscope to determine the current orientation of the robot, or each joint of the robot. This ...
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3answers
360 views

Best power solution for my robot

I've built quadruped robot which is using 12 servos (TowerPro SG90 Servo) and Raspberry Pi (model B 1). Right now I'm "feeding" it with 5V 2.5A charger. How can I make it un-tethered? What should I ...
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3answers
1k views

Servos power supply in Quadruped Robot

I'm facing a problem while building my quadruped robot which is figuring out the efficient power supply needed for the 12 servos. I'm using 12 MG995 tower pro servos powered by 2 lithium batteries 2x3....
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2answers
335 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 ...
3
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1answer
568 views

What is the difference between Task-Level and Joint-Level Control Systems?

While doing a literature review of mobile robots in general and mobile hexapods in particular I came across a control system defined as "Task level open loop" and "Joint level closed loop" system. ...
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1answer
599 views

Servo motor considerations for a quadruped

I'm building a quadruped and I'm not sure of the features I should be looking for in a servo motor. e.g. digital vs analog, signal vs dual bearings. Some of the ones I'm considering are here
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5answers
5k views

Learning Algorithms for Walking Quadruped

I'm building a 4 legged robot (quadruped) with 3 Degrees of freedom per leg. The goal of my project is to make this robot able to learn how to walk. What learning algorithms will I need to implement ...