ArtBot

More details on the walking gait computation.

Over the last months, I redesigned some parts of the robot (see Figure 1), mainly:

• The Pelvic and the brackets “linked to the Pelvic” are made with aluminum. Initially the Pelvic and related brackets were made of resin, but because of the torque exerted by the servos and the weight of the robot, they bent which lead to difference in terms of angles (Pelvic in Sagittal plane to be precise) between the simulator and the real robot. The use of aluminum solved the problem
• The lower part of the leg and the foot in order to change the distribution of weight.

Two New videos more compelling

Here are two new videos I want to share. The first video shows the robot walking at real speed.  The gait is quite stable and the video shows two cycles and the second part focus on the legs movements.

As mentioned before the gait I implemented is different from the one used by most of the existing humanoid robots. Here the gait implements a heel strike, a forefoot push and the stance leg is straight during the swing phase. In other words, the robot never keeps the knees bent.

 

The second video shows the same sequence but a speed 4 times faster, it is interesting because  it looks more "natural and/or more smooth" I will say.

 

I will post a note describing the robot and how I implemented the gait very soon