Lecture 2.3 Flashcards
What does “fully-actuated” mean?
Every joint is fully controlled.
What are the disadvantages to ASIMO’s strategy?
highly inefficient using 20x the cost of transport of human walking and only goes slowly.
It cannot deal with much uncertainty in its environment.
Control is limited to a small part of state space.
What is high-gain feedback? What is the problem with this method?
High-gain feedback uses powerful, high torque engines to react to terrain disturbances and this means battery life is really short.
What are the problems with asimo?
Asimo walks with a flat-footed crouching gait.
Exhibits weird turning creating strange paths.
Pausing at base of stairs
Collapse feature doesn’t prevent fall and no reflexes to break fall.
Why does asimo have no ability to recover during a fall?
Forces get huge with time while falling making it difficult to recover. To incorporate reflexes into this robot requires much more complexity than what is available.
