Re:IHMC Teaches Atlas to Walk Like a Human
by stcredzero on Friday December 14, 2018 @03:04PM
(#18684153)
This isn’t a kinematics homework where you can draw the links and joints and get full marks. You have to actuate them.
I should paraphrase that for interviews. "This isn't a CS homework where you can cite Big-O and get full marks. We have to be able to implement code that uses them."
And by that, I don't mean that you have to write all of the actual code. But one needs to be able to specify it exactly so someone could implement it and know enough about that to tell someone of the pitfalls in the current problem context/framework.
Re:IHMC Teaches Atlas to Walk Like a Human
by clairity on Friday December 14, 2018 @12:03PM
(#18682358)
the proper kinematics makes both the mechanical design and the control systems simpler, including leeway in choosing the actuators. you’re right in that we don’t have muscle-like fast-acting axial actuators with pliable multi-insertion endpoints, but you don’t need to exactly mimic a human leg (which is effectively impossible right now) to apply these principles.
This isn’t a kinematics homework where you can draw the links and joints and get full marks. You have to actuate them. For a human gait, you need to generate the same torque, at the same velocities, and the mass of the actuator needs to distribute across the linkages in the same proportion. Guess what? Actuators like that are hard to find.