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

Regarding point 1, yes you are understanding the problem correctly. Regarding points 1 and 2, I believe what you are looking for is the Nyquist-Shannon sampling theory. This theory says that your ...
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3 votes

Lifting robotic leg with only one servo

Going forward, a Klann linkage has a near-vertical leg drop action. (See the legs at left in the wikipedia animated GIF.) It has a near-vertical leg lift action if running in reverse. (See the legs ...
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2 votes

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

One chooses different leg designs for different reasons. Sometimes there are specific design goals, involving the workspace, manipulability, and dynamics, but sometimes the designs are less ...
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2 votes
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Why don't bipedal robots ever feature natural movement?

From my side I can provide two remarks. First the human have elastic actuators (muscles) with a lots of sensors for balance. Whereas robots have mostly rigid actuators with a few dampers here and ...
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2 votes
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Lifting robotic leg with only one servo

The linkages suggested by jwpat7 are great, and I would probably prefer to use something like that. But, if you want something really simple, then you might be able to get away with a four-bar linkage ...
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2 votes

Why Make Bipedal Robots?

In addition to the reasons given by Ugo, studying humanoid robots in general helps in the medical field too. Trying to understand what sensors/systems robots need helps us understand what sensors/...
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2 votes

Why Make Bipedal Robots?

I would say: Compactness of the structure: imagine humanoid robots that are required to operate in household environment: two-legged robots might have less difficulties in navigating among tables and ...
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2 votes

biped walking using Genetic Algorithm

If you're only trying to walk forward the fitness function could be the distance covered by the biped. If you're also trying to control the heading, you could define a slightly more complex function ...
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  • 478
1 vote

Robotic legs technologies

Their page for the ATLAS robot states the joints are hydraulically activated. A number of their other big robots also use hydraulics. For example Big Dog uses a small motorbike/go-kart engine to run ...
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  • 1,021
1 vote

Why Make Bipedal Robots?

What you are asking is "why build something that is hard to make when there are easy to make solutions?" Simple answer: "because you learn more when you do something that is hard." Also if yu want a ...
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1 vote

Why Make Bipedal Robots?

Really simple; Bipedal robots are designed to operate in environments made for ..... bipedal people. A swimming bipedal robot is probably not a good idea. Since climbing stairs, stepping over ...
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1 vote

Guidance for compensating internal forces on closed loop chain

Sentis' lab at UT Austin has open source code that implements many of the control topics mentioned in his thesis. You can check it out here: https://github.com/liangfok/controlit Specifically for ...
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