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Author: mori-d

Group: Default

Filesize: 383.38 kB

Date added: 2019-03-07

Rating: 6.5

Downloads: 4941

Views: 564

Comments: 3

Ratings: 4

Times favored: 0

Made with: Algodoo v2.1.0


Scene tag

# Biped v6.0 - A quasi passive bipedal walker

## Control method
- Time-based scheduling (Periodic pendulam of motorized limbs)
- Weak auto-ballance (Adaptive control for target angle of servomotors)

## Actuators
- Servomotor (shoulder, hip, knee, and ankle joint)

## Sensors
- Tilt sensor ("angle" of upper body)
- Rotary encoder ("angle" of thigh, shin/calf, and foot)

## Unused sensors
- Ground Reaction Force (GRF) sensor (heel and ball of the foot)

## Note
- The GRF sensor is equipped on the sole of the foot, but unused.
- Red, green and blue laser rays show the angle of thigh and upper body.
Last edited at 2019/03/07 12:19:07 by mori-d
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Title: biped6.1b14
Rating: 6.1111
Filesize: 389.63 kB
Downloads: 4474
Comments: 3
Ratings: 3
Date added: 2019/06/08 18:06:42
Made with: Algodoo v2.1.0
Rating: rated 6.1
That's it, I'm rating it a 10. :tup:
Nice work._o_
Damn, I believe this took some good time