Gaits, IK, and Excel

Keith Baldwin (who made the amazing legs below) just posted this in another forum. Looks like very useful stuff, I will be studying it! http://www.picaxeforum.co.uk/showthread.php?30122-Gait-Creation-Using-Excel

"When you make a thing, a thing that is new, it is so complicated making it that it is bound to be ugly. But those that make it after you, they don’t have to worry about making it. And they can make it pretty, and so everybody can like it when others make it after you."

- Pablo Picasso

Comments

  • 6 Comments sorted by Date Added Votes
  • Wow. Really nice. It's moving with no torso or head! I love the battery placement.
  • Phil Pilgrim (PhiPi)Phil Pilgrim (PhiPi) Posts: 21,017
    edited July 10 Vote Up0Vote Down
    The healthy human gait is statically unstable. Every step requires catching a potential fall. What the YouTube video demonstrates is the shuffling gait of a doddering nonagenarian, where every step must rely upon static balance. (The only thing missing is a freaking walker!) Show me something more dynamic, and I might be a believer.

    -Phil
    “Perfection is achieved not when there is nothing more to add, but when there is nothing left to take away. -Antoine de Saint-Exupery
  • Ha, excllent idea. A Bipedal walking robot with a Zimmer Frame!

  • ercoerco Posts: 18,042
    Ouch, PhiPi! Agreed, high speed dynamics is a whole other animal, but that's not promised here. Keith calls his creation a Tai Chi robot, and IMO it's a beautiful thing to watch, staying in balance each step. Not to mention powering 12 servos off 4 AAA batteries without resetting the controller. That's a monumental achievement by itself. The Excel tool he presents is primarily a geometry tool to use Excel to take some drudgery out of repetitive IK calcs. Certainly another worthy achievement, I'm a huge fan of Keith's work.
    "When you make a thing, a thing that is new, it is so complicated making it that it is bound to be ugly. But those that make it after you, they don’t have to worry about making it. And they can make it pretty, and so everybody can like it when others make it after you."

    - Pablo Picasso
  • GordonMcCombGordonMcComb Posts: 2,993
    edited July 10 Vote Up0Vote Down
    Phil, dynamic gait requires much higher speed in the motors. RC servos, especially these cheep imported micros, just aren't fast enough, and anything else is just too expensive for the average person. So as an experimentation platform for the typical hobbyist, and given the purpose of the demonstration (the MATH behind the programming), this is more than fine. Not sure what you were expecting for 50 bucks in parts ($30 if Erco buys them).

  • ercoerco Posts: 18,042
    Keith just posted this video showing the Excel animation:

    "When you make a thing, a thing that is new, it is so complicated making it that it is bound to be ugly. But those that make it after you, they don’t have to worry about making it. And they can make it pretty, and so everybody can like it when others make it after you."

    - Pablo Picasso
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