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Asked — Edited

Non Awkward Biped Walking Robots

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?

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Synthiam
PRO
Belgium
#12  
here is a better video for walking.


Australia
#13  
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.
#14  
Nice video , I knew it could be done ! now watch out for the terminators...
Australia
#15  
Yeah exactly, its actually remote controlled so needs an EZB in there.
PRO
Belgium
#16  
you have a link from dr guero walking.
#18  
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 ?
PRO
Belgium
#19  
NEWAGETOMY

thats something we can use,thanks
Australia
#20  
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.
PRO
Synthiam
#21  
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!
Australia
#22  
Yep the website i was looking at was showing all their 3D imaging of the robot walking.
#23  
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.
#24  
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 ?
Australia
#25  
Its a different approach and yet a very efficient approach.
The picture was to show the less is more theory basically.
#27  
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.
#28  
I couldn't attach the video clip (.avi file) !
PRO
Belgium
#31  
same as in movie robocop.