Controlling Apptronik's Biped Robot DRACO
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- Опубликовано: 8 сен 2024
- We control here the Apptronik DRACO bipedal robot for unsupported dynamic locomotion. DRACO consists of a 10 DoF lower body with liquid cooled viscoelastic actuators to reduce weight, increase payload, and achieve fast dynamic walking. Control and walking algorithms are designed by UT HCRL Laboratory.
The key for this really is torque at the ankles.
Does the hip only have two axis? Can't tell from video, but wouldn't the ability to pivot help with getting and holding balance?
It has three axis. This algorithm was testing walking with no rotations. A newer version of the algorithm provides more versatility.
@@HCRLaboratory Looks great!
Doss this have actuation for the ankle or only knees and hip?
It does have knee actuation but it's not being use for balance in this experiment.
Can it not stand still?
Did you write some research paper on it?
Here it is: arxiv.org/abs/1901.08100