leonardo46
Italy
Asked
— Edited
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?
I did a bit of searching and there is good detailed description by Dr.Guero talking about the mechanics of his robot, really interesting.
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 ?
thats something we can use,thanks
NOMAD-Your welcome, glad i could be of help.
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!
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.
The picture was to show the less is more theory basically.
Here's the best 4 servo biped I found so far:
Bill