3 ms·
That's very cool. Does it use vision or just tactile feeling of where it puts its feed down?
by lutorm 17y ago
That's very cool. Does it use vision or just tactile feeling of where it puts its feed down?
- joeyo 17y agoI wouldn't be surprised if it uses neither. My guess would be it has encoders to know the state of the joint angles (so, a type of proprioception) but probably not for foot contact. If someone has a reference to some technical details, though, I'd be very interested.
- JabavuAdams 17y agoPosted: http://news.ycombinator.com/item?id=731300 http://news.ycombinator.com/item?id=731300 It uses an IMU, optical vision, lidar, encoders, force sensors, and ground contact sensors. Why do you think joint angles alone would be enough?
- joeyo 17y agoThanks for the link! I just figured it would use the simplest solution that could get the job done. I don't know how important measuring foot slip/ground contact is for quadrupedal locomotion or how well it can be approximated by measuring joint angles and computing forward kinematics. I guess load cells are cheap so why not use them? Again, thanks for digging that up. It's heaps better than idle speculation.
- DougBTX 17y agoGetting the job done is important! A simple solution is no good if it doesn't work. Presumably they need to know where the ground is / how firm the ground is, before putting all it's weight down. There is a good bit in the video of it climbing over rubble.