22 Aug '14, 2pm

Video Friday: Ice Bucket Challenge With Robots, Dancing Drones, and Automata Movie via @IEEESpect…

This research is sponsored by the US Office of Naval Research. Hume uses its series elastic actuated legs to remain balanced while walking. It achieves this capability by observing the center of mass position error relative to a reference path and re-planning at every step a new reference trajectory to minimize the error. We use phase space planning techniques to plan the center of mass trajectories and foot placement. Thus, our approach is based on continuous re-planning. By planning the path of the next step based on the observed initial error, we can find the proper landing location of each step. Relying on the prismatic inverted pendulum model instead of the linear inverted pendulum model we also enable non-planar center of mass motion, which will be essential later on for rough terrain locomotion.

Full article: http://spectrum.ieee.org/automaton/robotics/diy/video-fri...

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Video Friday: Ice Bucket Challenge With Robots,...

spectrum.ieee.org 22 Aug '14, 2pm

This research is sponsored by the US Office of Naval Research. Hume uses its series elastic actuated legs to remain balanc...

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