Does KHR work well on carpet?
Does KHR work well on carpet?
by Chemical
Sat Mar 18, 2006 3:23 am
Hey
I've never seen this mentioned, and all video's are on smooth surfaces, so i wanted to know how is the little guy on carpet?
Thanks
I've never seen this mentioned, and all video's are on smooth surfaces, so i wanted to know how is the little guy on carpet?
Thanks
Current Robot Collection: Robosapien V2, Robopet.
Robots Rule!
Robots Rule!
by limor
Sat Mar 18, 2006 3:14 pm
Hi Chemical,
The simple answer is 'no'.
Here's the long answer:
To walk on uneven surfaces, walking animals have evolved a pretty complex corrective reflex system.
Because we animals continously correct our walk and stand subconsciously, it's easy to overlook at how complicated it is to do so.
You can read up about it by googling something like: robot control walking animal
Here's an example of a research group that's working on the subject.
Also, for an interesting approach to the problem of dealing with walking over rough terrain, check out Alejandro Alonso-Puig's Melanie-II site.
So KHR-1 as it comes unmodded and with standard software, won't like carpets or any unsmooth terrain. If you plug in a couple of gyros, you will get better results.
However, Kondo's ICS servos that come with the KHR-1, in theory could provide the foundation for feedback control (that would in turn allow for rough terrain walking). With every PWM cycle, the servos provide a reading of the current position. To utilize this feedback, a new controler has to be developed because the RCB-1 controler wasn't designed with feedback control in mind..
The simple answer is 'no'.
Here's the long answer:
To walk on uneven surfaces, walking animals have evolved a pretty complex corrective reflex system.
Because we animals continously correct our walk and stand subconsciously, it's easy to overlook at how complicated it is to do so.
You can read up about it by googling something like: robot control walking animal
Here's an example of a research group that's working on the subject.
Also, for an interesting approach to the problem of dealing with walking over rough terrain, check out Alejandro Alonso-Puig's Melanie-II site.
So KHR-1 as it comes unmodded and with standard software, won't like carpets or any unsmooth terrain. If you plug in a couple of gyros, you will get better results.
However, Kondo's ICS servos that come with the KHR-1, in theory could provide the foundation for feedback control (that would in turn allow for rough terrain walking). With every PWM cycle, the servos provide a reading of the current position. To utilize this feedback, a new controler has to be developed because the RCB-1 controler wasn't designed with feedback control in mind..
