Non Awkward Biped Walking Robots

Question

I'm an EZB user, and I'm trying to make a biped walking robot. I saw many ones , including EZB's JP, but most of them walk inclinating themselves by a very large, non human-like, and even ridiculuos amount to keep gravity center within foot area. I saw in internet some robots made by amateurs inclinating much less and walking in a more human way. Is there someone in the community who had such good results and can explain what's the secret to get good balance without ridiculos and unstable inclination, and what's the minimum number of DOFs required to make that robot?

DJ Sures · Answer

Add jd's hips for additional dof: https://synthiam.com/Community/Revolution/EZBitDetails.aspx?guid=6c44caf3-98fb-4a3b-8074-9bde69585eec No one has created a walk gait with the hips component yet. Hips are the missing piece that you are looking for, left out of most humanoids to keep cost down and maintain functionality. Good luck with your build! The auto position control will be your friend. As for the balance of walking without hips. It's not a ridiculous or unstable amount. It's, as you said, center of gravity amount, which is calculated stable amount. The center of gravity amount is a calculated and tested figure to maintain center of gravity for stability of balancing. This is something you will experience during your build as well. It'll be a lot of work, but the auto position control will make it much easier I know what you're attempting to convey, is that walking without hips isn't visually appealing. Have fun!

leonardo46 · Answer

I don't like walkers without hips ! I call that "awkward" walking. I'm attempting this difficult job because I know I have the help of the auto position controI ! I'm surprised no member has tried walking with hips yet. I saw many in youtube, walking well, (e.g."Robogames 2011 biped robot race") using, perhaps, "dynamic balance ", like humans, (i.e. stepping forward fast enough before falling ). But there I can get no help for this difficult job !

CardboardHacker · Answer

Someone has already made hips for JD by the way, if you didn't realize.

Andy Roid · Answer

Check with @Nomad 6R I think he played with hips on Jd. I don't know how he made out. he hasn't been around lately.

Toyhackrobotics · Answer

I never thought JD looked awkward at all. For what he does and for the price...well it's one hell of a kit and there's nothing stopping you from expanding on that, maybe fit a new body to it, etc? Your only limited by your imagination, keep looking at photos and videos on how they move and then you will suddenly 'Click' I only clicked last night and my jaw dropped by what went through my mind...

Nomad 6R · Answer

hi all i just order the new servo's HDD.hips and a backpack .  you can see i chifted the bracket a little side ways.he will get a backpack too. so it wil take some time ,waiting for parts.

leonardo46 · Answer

OK Newagetomy, no doubt JP is a good and cost-effective kit. What I want to imitate is human-like walking, and no human inclines himself left and right by 45degrees while walking... Use of hip joints would improve walking quality, and I have already experimented that with a wooden structure and giant servos. But it's not so easy. I was looking for someone doing this , to share experience, but until now I found nobody in the community.

leonardo46 · Answer

Hi, Nomad 6R, i'm waiting for your experience with a more human-like walking.

Nomad 6R · Answer

this guy nows all about walking,

Toyhackrobotics · Answer

Wouldn't take much to get it right. Fun part would be to keep testing what ever what have until its walking exactly how you like it. NOMAD-That robot walks well, a little heavy up top but walks well. : )

Stiko · Answer

JD is great with the hip. I did not have a 3D printer. So I have 2 servos glued with glue. That worked well. I wanted to move with JD through bad terrain. Doorways and hills in nature made me crazy. That was too hard for me and I was too lazy. So I finished the project and now use a ROLLI as a base. I'm curious what you're going to do.  This was the design from my project.

Nomad 6R · Answer

here is a better video for walking.

Toyhackrobotics · Answer

Yep great video, i love the one when he's pulling the heavy load, amazing and so strong. I did a bit of searching and there is good detailed description by Dr.Guero talking about the mechanics of his robot, really interesting.

RoboHappy · Answer

Nice video , I knew it could be done ! now watch out for the terminators...

Toyhackrobotics · Answer

Yeah exactly, its actually remote controlled so needs an EZB in there.

Nomad 6R · Answer

you have a link from dr guero walking.

Toyhackrobotics · Answer

Ha...you mean talking?

leonardo46 · Answer

Guys, that is great walking ! The secret seems to be in the dynamic walking controlled by gyro sensor feedback. It's realistic because it's the way humans walk. How to do that with EZB ?

Nomad 6R · Answer

NEWAGETOMY thats something we can use,thanks

Toyhackrobotics · Answer

Would be very easy with the EZB, after seeing what JD can do then it would be no problem at all i don't think. NOMAD-Your welcome, glad i could be of help.

DJ Sures · Answer

Leonard - you can add the 4-in-1 sensor to the JD humanoid. There's a slot for it between his legs. However, i wouldn't start by attempting to tackle the gyro calculations for real-time gait calculations. In this example, the phrase "learn to walk before run" applies The people who upload excellent human style walking with robots have a video demonstrating just that. Think about it, one video demonstrating walking. That's because it takes them weeks or months of trial and error to get it right. I'd be disappointed to see this enthusiasm not result in an impressive walking gait. On that note, i highly recommend starting with a finely tuned auto position walking gait before adding real-time gyro calculation. Good luck!

Toyhackrobotics · Answer

Yep the website i was looking at was showing all their 3D imaging of the robot walking.

leonardo46 · Answer

Hi, DJ. What I'm experimenting is a home-made robot with 4 DOFs per leg (hip, 2 for leg ,foot, no body and arms) and the EZB movement control . Even this simple structure isn't easy to manage. When a foot is lifted (after shifting the gravity center) the whole robot moves in a unpredictable way, because of inertial reation, non vertical lifting movement of the foot causing friction on the ground and mechanical deformations in the structure altering system geometry. It's hard to fine-tune, and keep in tune, without some feedback.

leonardo46 · Answer

HI,Newage, the photo you uploaded shows a completely different approach to walking (few servos, switches at the feet, weight shifting for balance, legs with levereges and a spring, etc.). I can't understand where are the other servos and what the 4 servos are for. From which website does this project come ?

Toyhackrobotics · Answer

Its a different approach and yet a very efficient approach. The picture was to show the less is more theory basically.

EEGbiofeedback · Answer

Cool thread! Here's the best 4 servo biped I found so far:  Bill

leonardo46 · Answer

I'm experimenting this walking robot ( 70 cm tall), but I don't like this large side-by-side inclination, and think it could be made more natural using dynamic walking, i.e. stepping forward quickly before falling. I think to use switches in the feet to trigger stepping forward . I saw something like this on the web.

leonardo46 · Answer

I couldn't attach the video clip (.avi file) !

leonardo46 · Answer

I attach a photo

Mickey666Maus · Answer

Just found this one really awesome...

Nomad 6R · Answer

same as in movie robocop.

leonardo46

Upgrade to ARC Pro