Pondering on Walking Motion

[UncleBob]

The Bioloid walks very slowly compare with Kondo KHR3. The KHR3 weights 1.3KG vs 1.7KG for the Bioloid. The Bioloid servos are stronger but slower than the KRH3s' .

I been trying to improve the default Bioloid walking motion. I find walking is very hard to perfect. Not only do we need to get the posture, centre of gravity, height right for every frame. The timing is also critical. The goal is to moves the legs so that the body travels at a constant speed in order to maintain good balance.

Have anyone has any success in making the Bioloid run smoothly ?

[altwolf]

my bio mod worked well, i thought. The floor in the (removed by spam filter) was really warped and bumpy too.

video:

http://www.youtube.com/watch?v=KSPb8iNuhyA

[UncleBob]

My default walking motion is fine. When I try to reinvent the wheel and improve walking I get nowhere

[altwolf]

Oh ok. yah, it's difficult to invent a completely new walk cycle. I have failed at it too.

[SK]

I´m not sure that doing frame by frame walk cycles is the best approach. There are a few research papers out there about motion generation.

One example would be a recent one by "my" team:
http://www.ais.uni-bonn.de/humanoidsocc ... 09-010.pdf

Another about motion generation for Bioloid (I guess someone from this group might also be a forum member?):
http://www.ais.uni-bonn.de/humanoidsocc ... 09-002.pdf

Some information on motion generation for the Nao robot:
http://www.irf.tu-dortmund.de/cms/en/IT ... index.html

[UncleBob]

Thanks for the pdfs. Reading them now. Let's see if I can do some more stuff after reading.

[altwolf]

according to the people who make the arbotix microcontroller, their NUKE gait generation program will soon support a 4 DoF biped IK leg. That doesn't help you, Bob, but I look forward to checking it out.

[UncleBob]

Read all three papers. I was hoping that I won't need to calculate each motion in real time as suggest by the papers.

If I want to create a walking gait using Roboplus motion, what it means is I need to calc the pendulum swing of the hip, figure out the speed of the leg motion, foot ground clearance, size of step, head motion. Then some how put all this into several frames using the servo speed slide bar in Roboplus, hoping that the timing for all the above comes out as expected. This is quite difficult to achieve if not impossible. Maybe the default motion came with Bioloid is created using some other tools that capture the actual human walk. Just a guess.

I am hoping that there is a shortcut or trick to all these. Let me investigate more. BTW the below Kondo walking is so perfect I wonder how they create those motions.

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[FabinovX]

I think Kondo has understood something more than Robotis according to the skeleton :
The larger the distance your legs are, the less your walk is easy.

look at the skeleton of KHR3 and compare it to the Bioloid one.
to have a better walk with bioloid i think we have to modify the skeleton.
it would be interesting to try to reduce the distance between the legs at pelvis and foot level.

the arms of KHR3 are quite different too and i think it's better for balancing.

[altwolf]

I am pretty sure the Kondo has a gyro or accelerometer. From the video you can tell he is incredibly stable. Sensors like that REALLY help when trying to implement balance and walking.

[UncleBob]

Getting there. A bit more like the Kondo. Will keep working on it.

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