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biped6.1b14

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Author: mori-d

Group: Default

Filesize: 389.63 kB

Date added: 2019-06-08

Rating: 6.1

Downloads: 4709

Views: 560

Comments: 3

Ratings: 3

Times favored: 0

Made with: Algodoo v2.1.0

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# Biped v6.1 - A quasi passive bipedal walker



No more unexpected jumping.
i.e. stance leg wait for swing leg touching down if needed, and it don't wait for if not needed.

## Control method
- Time-based scheduling (Periodic pendulum of motorized limbs)
- [NEW] Event driven re-scheduling (Reschedule limbs every when a feet touched down on the floor)
- [IMPROVED] Weak auto-balance (Adaptive control for target angle of servo-motors)

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

## Sensors
- Tilt sensor ("angle" of upper body)
- Rotary encoder ("angle" of thigh, shin/calf, and foot)
- Ground Reaction Force (GRF) sensor (heel and ball of the foot)

## Note
- Red, green and blue laser rays show the angle of thigh and upper body.
Last edited at 2019/06/08 18:17:25 by mori-d
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Title: biped6.0beta7
Rating: 6.5
Filesize: 383.38 kB
Downloads: 4980
Comments: 3
Ratings: 4
Date added: 2019/03/07 12:11:34
Made with: Algodoo v2.1.0
Rating: rated 6.5
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Nice construction and code.:tup:
You never fail to impress me. :tup:
AMAZING !!! and you made it looks so simple too, great job m8:D