RE: Walky the Biped Robot - WalkyII is learning to walk again!

ntewinkel — Fri, 10 Aug 2018 23:43:26 GMT

Great progress!

>One issue that I am still working on is the fact that WalkyII walks like a drunken sailor

I say embrace it and give him a pirate's hat and parrot.

RE: Walky the Biped Robot - WalkyII is learning to walk again!

balearicdynamics — Fri, 10 Aug 2018 23:30:51 GMT

Hi Gene!

Thank you for the video, I experienced a small delusion as seeing the video I was expecting to see the guy walking but nothing. To be honest, I think you can also show the not yet perfect milestones, it's a very good project and I (and not only me, I am sure) appreciate a lot your updates.

You say:

One issue that I am still working on is the fact that WalkyII walks like a drunken sailor (not there is anything wrong with that).

For this "issue" I can give you some suggestions, serious and not too serious. First of all, I think that the drunken sailor walks it's not so bad. Sure it will be better than the Boston Dynamics robots falling down during a worldwide demo [View:/resized-image/__size/16x16/__key/commentfiles/f7d226abd59f475c9d224a79e3f0ec07-a6b04cd7-bf84-4f51-b159-3165e9fb2a9d/contentimage_5F00_1.png:16:16]

When I was young there was a sort of small four-legged puppets moved by a small cotton wire and a weight; the weight was training the puppet moving down (for example) to a border of the table and the puppet was walking with this curious walking style.

By a more technical point of view, instead, the point is that a different walking needs one more node. But I think there is another possibility that will solve the issue. It is not a node for the movement (a knee....) This is a Walky robot, so I suppose we can accept a straight motion as desired without the need to humanize it. The two feet can move better following your design of the two legs, but adding an eccentricity near to the moving engine.

The video below is a very primitive prototype but shows what I mean. Hope this will be helpful.

[View:https://www.youtube.com/watch?v=hHtEbwIxDec:740:466]

RE: Walky the Biped Robot - WalkyII is learning to walk again!

jw0752 — Fri, 10 Aug 2018 23:02:09 GMT

Hi Gene,

Have you experimented with only one or two pads on each foot at different corners?

John