3 ms·

> The task it is doing is undemanding. Have you noticed how in second 13 it rotates the lower body clockwise while the upper body rotates counter-clockwise in

> The task it is doing is undemanding. Have you noticed how in second 13 it rotates the lower body clockwise while the upper body rotates counter-clockwise in order to optimize the movements to archive the goal? All (bipedal/quadrupedal) robots I've seen behave either like an animal or a human, but this one is something else. Imagine the inverse kinematics required to perform such a movement, and how precise even the slight left foot's clockwise rotation is. It does these very uncanny movements multiple times in the video, this video less about moving that thing from here to there than about how it does it. Also the recovery it had when it failed to insert one of the objects.

sfvisser 2y ago
> Have you noticed how in second 13 it rotates the lower body clockwise while the upper body rotates counter-clockwise in order to optimize the movements to archive the goal? Could be a fancy optimization of course, but could as well be a side effect of a decoupled planning of the locomotion part and the upper body pick and place. Algo could be: plan a path for a lower body motion from pose (4dof) A to pose B. And given pose B plan the upper body place of the tray in the target. If no constraints are broken plan both in parallel so it looks like one smooth behavior. Obviously, I don’t know :)
ASalazarMX 2y ago
There's something weird in its movement optimization, towards the middle it surprises the camera person by needlessly walking too close to it, a couple of steps away from the destination slots. Nevertheless, it fascinating how the legs/torso/head spin in different directions. It's scary even if you know it is physically weaker than its hydraulic cousins.
BugsJustFindMe 2y ago
> Also the recovery it had when it failed to insert one of the objects. You mean the unnecessarily violent jerking motion it does for no great reason at 1:22 instead of gently trying again?

sfvisser 2y ago

> Have you noticed how in second 13 it rotates the lower body clockwise while the upper body rotates counter-clockwise in order to optimize the movements to archive the goal? Could be a fancy optimization of course, but could as well be a side effect of a decoupled planning of the locomotion part and the upper body pick and place. Algo could be: plan a path for a lower body motion from pose (4dof) A to pose B. And given pose B plan the upper body place of the tray in the target. If no constraints are broken plan both in parallel so it looks like one smooth behavior. Obviously, I don’t know :)

ASalazarMX 2y ago

There's something weird in its movement optimization, towards the middle it surprises the camera person by needlessly walking too close to it, a couple of steps away from the destination slots. Nevertheless, it fascinating how the legs/torso/head spin in different directions. It's scary even if you know it is physically weaker than its hydraulic cousins.

BugsJustFindMe 2y ago

> Also the recovery it had when it failed to insert one of the objects. You mean the unnecessarily violent jerking motion it does for no great reason at 1:22 instead of gently trying again?