Re:Dexter Walks (first dynamically balancing biped robot)
by ecuzzillo on Tuesday February 27, 2007 @03:44PM
(#1419)
It seems to me that things like this have been done in academia for a while; because I've only seen a video (rather than, say, some code or a paper), I'm unsure exactly what Dexter is doing, and whether it's different from the stuff done with bipeds at CMU, MIT, or in Japan. I wonder if there is any more information available.
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Re:Dexter Walks (first dynamically balancing biped robot)
by pg on Tuesday February 27, 2007 @05:03PM
(#1430)
Really? Do you have a reference?
Re:Dexter Walks (first dynamically balancing biped robot)
by ecuzzillo on Tuesday February 27, 2007 @05:18PM
(#1433)
I'm in a class on the subject at CMU, so I should be able to find out. What you said about Asimo is not quite true; for instance, one guy here at CMU wrote some code that took Asimo and constantly replanned in real time, so that he could respond to various changes in the environment dynamically.
Here, for instance: http://www.cs.cmu.edu/~Joel/footstep/videos.html#ASIMO
It would help to know more about exactly what Dexter is doing, so I can find some similar stuff. There is a large amount of literature on the subject.
Also, you note that Asimo's floor has to be hard and flat-- generally true, but also true for most bipeds, which seems to include Dexter. Can Dexter really deal with irregular terrain? How irregular can it be? An interesting question is how to get a biped to walk on *really* irregular terrain, like boulder-size.