Lecture 12.1 Flashcards
1
Q
We are much more efficient than chinps walking bi/quad pedal - why?
A
we are an inverted pendulum - the apes have a large torque requirement at the hip to keep the body upright
2
Q
how do we have a low cost method of moving
A
our centre of mass and the forces of gravity are kept in a nice dynamic balance
3
Q
The downside of bipedal robot have the disadvantage of being..
A
less stable - less gait options
4
Q
what does fully-actuated?
A
full control at every point of motion - problem as robots can’t have it at the ankle
5
Q
What was wrong with Asimo?
A
Walks with flat foot - crouching gait
weird turning
Pause at base to scan stairs
no collapse feature
