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5 votes
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Why is it so hard to walk?

I'm not sure I agree that bipedal walking is so much harder that airplane control. It depends on how you look at it. Many robots can walk (bipedal walking) and many airplanes are difficult to control ...
hauptmech's user avatar
  • 4,445
5 votes

Biped Robot not getting on one foot

You got the second picture by physically manipulating the robot to get the center of mass above the rotated foot. What you need to do is to get the robot to shift its own center of mass in a similar ...
Chuck's user avatar
  • 15.9k
4 votes

Occupancy grid maps

As the wikipedia page of Occupancy grid mapping explains, the result of the mapping process is a binary 1 or 0, occupied or not, the decision itself may be based on noisy data, which involves the ...
50k4's user avatar
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4 votes
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Angular momentum of rimless wheel in Passive Dynamic Walking

In McGeer's 1990 work on Passive Dynamic Walking, the angular momentum equation that you have posted is the angular momentum of the system just before the impact of the swing foot, about the impending ...
Brandon J. DeHart's user avatar
4 votes
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Biped Robot not getting on one foot

You might be able to use the the opposite foot to begin the rotation of your chassis, but it will be dependent on your chassis and foot geometry. Using your photos for reference, the left foot would ...
kaliatech's user avatar
  • 562
3 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 ...
N. Staub's user avatar
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3 votes
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How to balance a humanoid robot on one feet?

Humanoid robots balance and motion planning are not trivial tasks. I believe you will learn a lot if you read about Zero Moment Point (ZMP). Basically, it is a specific point of contact between the ...
Robotawi's user avatar
  • 510
2 votes
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Should a walking robot necessarily be a better cleaning robot than a wheeled robot?

“Better” is ambiguous. A walking robot could certainly get to some places that a wheeled robot could not - steps are a good example. But it would have challenges getting low enough to go under some ...
SteveO's user avatar
  • 4,396
2 votes

Does anyone believe a high voltage battery say 100kV is possible? If so do you have a schematic or know a seller?

They do not have 100kV batteries. They use 12-volt batteries to power a fancy dc-dc converter, which steps up the voltage to 100kV with a Cockroft-Walton voltage multiplier. Ref: the abstract of the ...
r-bryan's user avatar
  • 1,271
2 votes

Occupancy grid maps

Cause of the intrinsic noise in sensory data, we have to consider a probabilistic model (mostly Gaussian) for the sensor measurements. As a matter of fact, the description and definition of the ...
hosh0425's user avatar
1 vote

MG996R issues with Arduino

tl;dr: use 6 V Those rascals are rated for 6 volts, not the nominal 7.4 V from 2S LiPos. You could imagine a Shenzhen manufacturer's design/value engineer zealously shaving a penny cost per unit by ...
r-bryan's user avatar
  • 1,271
1 vote

How to derive the Jacobian for a floating base linkage?

Actually since a Jacobian maps joint velocities to workspace velocities (linear and angular) of a point of interest (for example, the robot's center of gravity), in this case, your Jacobian will have ...
Petch Puttichai's user avatar
1 vote

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

If you know all the joint angles, to fill in all the world frame information, all you need to know is the pose of something in the world frame. You first ask how to find the feet position given the ...
Peter w's user avatar
  • 101
1 vote

Why is it so hard to walk?

A bipedal robot is essentially unstable - a little knock will cause it to fall over. A commercial aircraft is essentially stable - a little gust of wind might move it off course, but it will keep ...
Pete Kirkham's user avatar
1 vote

Angular momentum of rimless wheel in Passive Dynamic Walking

There are some fundamental problems with your questions. First, $\alpha_0$ and $r_{gyr}$ are fixed parameters that depend on the passive walker. Second, the equation $$H^-=I*\omega=(cos(2 \alpha_0)...
JSycamore's user avatar
  • 926

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