Questions tagged [walking-robot]
The walking-robot tag has no usage guidance.
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Can the human body distribution of load and effort on the lower body be directly translated to bipedal robots?
So, I couldn't find the actual source for this affirmation, but I read somewhere some time ago that the lower part of the human body has to be 3 times stronger than the top half; and that's why you ...
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MG996R issues with Arduino
I am working on a robot dog, and using 12 MG996R servos. I am powering the servos via a 2S LiPo battery, and I have the battery's negative tied to the Arduino's ground to prevent ground loop issues.
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Does anyone believe a high voltage battery say 100kV is possible? If so do you have a schematic or know a seller? [closed]
In the interest of soft robotics I need a high power programmable battery power supply. I also found this.
https://aip.scitation.org/doi/pdf/10.1063/1.2362721
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Occupancy grid maps
Why do we take probabilistic approch to model the environment for robots in occupancy grid maps.The assumption is always taken that each cell on the grid map is either free or occupied.So why have ...
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How to balance a humanoid robot on one feet?
For a school project, I have designed and assembled a bipedal humanoid robot. The robot is roughly $54$cm tall, with the width(distance between two legs) at $20$cm. The parts that make up the robot ...
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Should a walking robot necessarily be a better cleaning robot than a wheeled robot?
All cleaning robots I found so far sold in stores, for cleaning an house, are not walking robots but rather short, wheeled robots.
I assume that walking robots could have way more sophisticated ...
user16003
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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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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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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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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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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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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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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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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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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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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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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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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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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 ...
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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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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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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 ...
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