"HAL" THE ROBOT THAT WALKS AND TALKS

cliffordkoperski

USA
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5.5 foot tall humanoid robot that walks and talks.
56 servos controlled by 3 ezbv4 boards working together over wifi.
On board power supply lasts 1-2.5 hours depending on activity: 7.4v 5a lithium battery for logic and smaller servos and 11.1v 10.5a battery for everything else.
DOFs? all of them:)
Been out of the ez-robot loop for awhile, and I have to say I like were things are going with synthiam. Plan on taking full advantage of having an onboard pc, and will be converting to arduino in near future.
Very interested in bipedal gyro control and scripting if anyone has advise on the matter.

here is a link to my project design on grabcad: https://grabcad.com/library/hal-the-robot-1

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#21  
How do they do that "retargeting "  ????
#22  
Its Disney, so its not open source...they dont share their magic!!

But it looks like there is a dynamic layer in top of the desired animation layer, and they invented an algorithm that is matching the dynamic one so it is as close as possible to the desired animation!
#23  
Very cool, 
I know a company " teknic" which has a product called clearpath servo and provides free auto tuning software which works very much like this.
Actually used there product in a cnc mill I built while back, during the auto tune process the servos literally shake and vibrate the machine like a tuning fork feed back the results to the software and establish optimal  performance. I am talking out my back side here:) so forgive  me but I bet the software Disney uses focuses alot on the oscilloscope type feed back of the servo.
Does anyone know the brand or type of servos Disney typically uses in these applications?
Synthiam
#24  
I believe that Disney Research uses a bunch of different types of Dynamixel servos. I believe this because I found a similar video with the OpenCM controller by Robotis at the bottom of the shot:

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#25   — Edited
That’s some great dampening. But only Disney would build cartoon flexible rods to build robots only to dampen them in software.xD

Good catch Jer.
#26  
I have done  theoretical studies on analog control systems many years ago at the university. The oscillograms I have seen in the Disney clip  are  typical for a feedback system actuated by a  "ramp"  command. The dynamic behavior of any system depends on its mechanical parameters  (inertia, elasticity and friction) and on loop gain. It's the same thing that happens in an electric ciruit  , with inductance, capacity and resistance , energized by a ramp or step signal.
So , what can be done to increase stability and achieve good behavior in a highly oscillating system ? 
1) change the parameters  (decreasing inertia and elasticity, increasing friction by adequate dampers, reducing loop gain)
2) change the input to the system (no ramp input, but a special oscillatory input conterbalancing the oscillatory output . This special input may be  calculated, or produced by an  electric circuit having the same characteristics of the mechanical system itself, or may be created by experimentation . This is probably what Disney  has done , calling it "retargeting" i.e. change of the "target" (target = system input).