Gyroscopic Bipeds: A Different Way of Walking with Dr Pauline Pounds
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- Опубликовано: 11 июл 2024
- Dr Pauline Pounds is an Associate Professor at the University of Queensland, with a wealth of experience in mechatronics research. Her published papers cover topics including aerial drones, high precision sensors and control theory.
Pauline's current research project is a bipedal walking robot she calls the "Tiny Giant Robot", or TGR for short. Inspired by walking mechas of science-fiction, the key aims of the project are to create a walker that is cheap, accessible and scalable. In this seminar delivered live to UQ MARS members, Pauline discusses the theory behind two-legged robots and shows off the current progress on the build.
Timestamps
00:00 - Welcome
01:29 - Introduction
04:10 - About Bipeds
12:47 - Building Some Legged Things
19:36 - A Different Approach to Moment Control
25:13 - Design and Safety
34:48 - The Tiny Giant Robot
41:56 - WARNING: Maths Ahead
53:15 - Does It Work?
56:44 - Demonstration
57:25 - Conclusion
This presentation contains footage of Boston Dynamics' Atlas robot, and ETH Zurich's Cubli balancing cube, used for educational purposes.
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Saw a film a while back that demonstrated that birds don't use inner ear balance organ as much as the lumbosacral organ. Perhaps Pauline is approaching bipedal balance more the way Avians do by starting with the flight ready balance in drones/quadcopters and not thinking balance relative to a head or CPU/location.
I once sat next to Eric Laithwaite at a dinner when a student at Imperial College.
I remember watching him at Royal Institutes Christmas Lecture on BBC years ago.
At the time he stated he was the only scientist in the world studying gyroscopes. It had a massive influence on me as I still remember it ? years later
I thought of trying to get a toy kit of this exact idea in like 2008. 3D printers were expensive and there were some but not a large assortment of well documented microcontroler / SBC solutions for non-electronic engineers. And everybody I tried to wrangle in hated it. I think its very practical and really smooths out the edges. They must have genuinely hated it because no one stole it obviously. 15 years later and only now do we have neural net based bipedal robots and BDI bots still fall a lot.
There's a single track train that was made using CMG, it was a self balancing monorail
i would really like to know where to buy a CMG with enough mass to do this.
A year on, any chance of getting the bit that was beeped out?
"why are the knees the wrong way around" Because it's a mini timber wolf.
Also aren't inversed knees like way easier to design and program ?
@@ulforcemegamon3094 Knees are just a linear actuator with extra steps.
Title "A Different Way of Walking" resonates: "As I walk I think about a new way to walk" - TMBG, "It's Not My Birthday"
How much did all of this cost?
$4240 Australian dollars, around 35 minutes into vid.
I think they got ripped off for the machining as there should be a 'tool room' quality lathe in the engineering department at university.
Machine shops can get expensive real quick.
In the 1990's I worked for a company that was paying machine shop £170.00 an hour (approx $350 US at the time)
They had the equipment to do the job at the place I was working, just no one to run it (until I came along)
ED 209 is my favorite robot it's on my desk
You do realise this is going to fill up the Commentary with Battletech Fans asking difficult questions ; )
Robot Jox, baby!
I love the phrase "you probably have an above average number of legs"
Gorgeous innovations, thank you! I imagine this would work really, really well for small *SALTO-bots* who seem to have trouble sticking the landing... if the salto-bot could deploy a glide-wing, then perch on a telephone wire? ...it'd be better than the quadcopter-salto-design, which seems a bit power-hungry in comparison. Have you considered dual, opposing gyros, as well? You could stack vertically, or adjacent in a few configurations... a pair of smaller gyros would also leave a spot for a crewmember's pod :O
There is a robot called "Gyrobot" that does that , it uses four gyros and some of the gyros can oppose other gyros in order to get rid of the parasitic torque , is also way bigger than this one and more stable
Interesing research !
Well now we have BD-1 disney robot, is't a implementation of this method
Mechanical engineers build weapons, civil engineers build targets... and software engineers arrange an introduction.
Im glad i have a cnc in my bed room now 😂 ❤
1000$ for that is laughable.
Invest in a good microphone. Your sound is terrible.
audiovengineerfails
If we are here to learn, and this is a formal education class, why were social political elements included in this? They serve no purpose and have no function in the topic of discussion, unless the intent is to include them into the content, in which case makes them even more inappropriate in this context.
This is a topic on robotics, engineering, intellectual pursuits.
So why were things such as gender, transgender, gay, and so on included? How do those topic apply to the given topic of this class? Or are we simply politicizing this class with non relevant social political garbage?
Aaaaand... a complete failure
Sounds like they got ripped off on the machining, plenty of hobby machinists and machines can make things to micron tolerances.
I used to do PRODUCTION machining to 3 micron tolerance (0.003mm)
If I fitted new bearings to my cheap Chinese lathe I could probably still do it although it would take longer than the two minutes twelve seconds job allowance when I was 19
That's about how it was when I looked into getting parts machined a few years ago. For the cost of a couple small jobs, you can build your own machine and make hundreds of parts, with the freedom to iterate on the design rather than fretting over whether it's perfect because the one shot costs half your total project budget. There's really no other option if you're doing to do robotics R&D work.
.05mm (or as an American I can better relate to .002") is not precision machining -- I wonder if she ought to have put another zero or two and simply misspoke. There was an error on the slide with the mass of a cricket ball where it said 0.156g and as she'd said the weight was "about 150 grams" it should have been kilograms.
Interesting work.. Too bad the presenter is so foul-mouthed I don't want to listen.
Australians are more casual with that than any other English speaking nation so far as I've observed, compared with Americans, Brits, Kiwis, South Africans, Canadians.
Be an adult and just ignore it.
Suffered 14 minutes. She had not gotten beyond her spewing empty words. Essentially suffering glossalirhea (Running of the mouth.).
Calm down sparky!
Blah blah blah....it doesn't WORK
Where did it fail?
There's no demonstration of it walking, proof of concept.
@@erichahn6450 Um... in fact it does manage to take a few steps before falling over, right at the end of the video.
@@JamesNewton that's not WALKING...she gives all this hype about how much better it can out perform the rest but can't even stay standing...really.
@@chitii91 Where did it not fail? Its a robotic chicken that can't even stand let alone walk.
audiovengineerfails