2 years ago
Will the bigdog robot learn how to hop down a mountain side? How did Boston Dynamics teach the robot to move?
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The "Bigdog" is a quadrupedal robot designed to carry heavy loads to support military infantrymen.
It has been designed with a dynamic gait balancing algorithm which allows it to react to external interference, like a push, and to right itself while still progressing forwards. It uses a pneumatic system and is very noisy as a compressor runs continuously. The proposed power plant will be much quieter.
Dynamic balancing algorithms have moved through several stages from balancing using center of gravity models - which make the robots look stilted and a bit hesitant (e.g. the Honda P3 which led to Asimo) through to more modern algorithms that dynamically calculate the torques and moments of inertia as the robot moves. This gives it a more natural gait and mimics the way toddles learn to walk by continually correcting for imbalance.
http://www.btinternet.com/~reg.joy/images/Robots/p3.gif
Multi-legged robots have different gaits and therefore different problems. Four legs are better than two according to George Orwell's "Animal Farm" and do make it easier for a robot to rest and find a stable balance but they offer their own difficulty over uneven terrain.
Bigdog uses a gait coordination algorithm in conjunction with a control system which uses joint sensor information to determine foot contact with the ground and the desired load on each leg and actuator. This is done with a kinematics physics solver connected to a posture algorithm which controls body position by coordinating the kinematics of the legs and their reaction forces against the ground.
The next version of Bigdog is Littledog. Its shows excellent strategies and keeps track of where its legs actually are - which big dog did not.
http://www.youtube.com/watch?v=nUQsRPJ1dYw
It has been designed with a dynamic gait balancing algorithm which allows it to react to external interference, like a push, and to right itself while still progressing forwards. It uses a pneumatic system and is very noisy as a compressor runs continuously. The proposed power plant will be much quieter.
Dynamic balancing algorithms have moved through several stages from balancing using center of gravity models - which make the robots look stilted and a bit hesitant (e.g. the Honda P3 which led to Asimo) through to more modern algorithms that dynamically calculate the torques and moments of inertia as the robot moves. This gives it a more natural gait and mimics the way toddles learn to walk by continually correcting for imbalance.
Multi-legged robots have different gaits and therefore different problems. Four legs are better than two according to George Orwell's "Animal Farm" and do make it easier for a robot to rest and find a stable balance but they offer their own difficulty over uneven terrain.
Bigdog uses a gait coordination algorithm in conjunction with a control system which uses joint sensor information to determine foot contact with the ground and the desired load on each leg and actuator. This is done with a kinematics physics solver connected to a posture algorithm which controls body position by coordinating the kinematics of the legs and their reaction forces against the ground.
The next version of Bigdog is Littledog. Its shows excellent strategies and keeps track of where its legs actually are - which big dog did not.
http://www.youtube.com/watch?v=nUQsRPJ1dYw
You can leave an optional "tip" with Mahalo's virtual currency, Mahalo Dollars. If you are asking a difficult question that might require some research, or if you'd like a wide variety of feedback, a higher tip often leads to more answers to your question.
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