SK wrote:
Well an intuitive analogy would probably be: Would you rather mount 2 3kg weights to your feet or carry the 6kg in a backpack? Carrying them on the feet makes you more statically stable, but as soon as you want to move you´ll definetly notice that overall energy consumption and the torque requirements in your leg "actuators" have increased. Of course the analogy is flawed, because the human balance control and actuation system is much more sophisticated than a robot´s and thus a high COG isn´t so much of a problem for us. Still, as soon as things are supposed to move, dynamics play an important role and should not be ignored.
@Luison:
Your new robot looks pretty good (and the old one too, even if probably a bit hardware limited) , what will be the scenarios it will be used for?
Stephane wrote:SK is rather participating to socker competition, where mobility is the key point. In that perspective, I find SK's points very interesting (all the more that they precisely challenge the common places of COG position).
Well an intuitive analogy would probably be: Would you rather mount 2 3kg weights to your feet or carry the 6kg in a backpack? Carrying them on the feet makes you more statically stable, but as soon as you want to move you´ll definetly notice that overall energy consumption and the torque requirements in your leg "actuators" have increased. Of course the analogy is flawed, because the human balance control and actuation system is much more sophisticated than a robot´s and thus a high COG isn´t so much of a problem for us. Still, as soon as things are supposed to move, dynamics play an important role and should not be ignored.
@Luison:
Your new robot looks pretty good (and the old one too, even if probably a bit hardware limited) , what will be the scenarios it will be used for?
Ok SK, that's a really good point.
My first robot, use a BasicX running at 8MHz, with only 400bytes of RAM... now i use a chip more powerfull, running my code, i'm complete sure that the AXON will not be the problem (second core or chip for sensors
), the real problem in power is the CMUcamp3... i still haven't programmed it, and i have some really good ideas for it, but only ideas.Scenarios: I use robo-one tournaments for teach my robot how to move., so this year, only robo-one tournaments, like http://bipedolandia.com/sites/default/f ... CAMUBI.png . The next year... i don't know, everything is on the air (if i go, for example, to robocup, i would go only with one robot, pay all the trip... i don't know)
Statistics: Posted by luison — Fri Mar 26, 2010 1:00 pm
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