L2.3 Locomotion Machine

Question 1

Adv & Disadv of ASIMO

Answer 1

• Adv:
  
  • mimics fully-actuated (energy controlled) robots
    
    • Fully-actuated not plausible → cannot control joints (due to friction)
  • high gain feedback → high torque → cancels out natural dynamics
• Disadv:
  
  • X20 energy of human walk → ∴ low battery life
  • Needs stable environment
  • No reflexes