Lecture 12.1

Question 1

We are much more efficient than chinps walking bi/quad pedal - why?

Answer 1

we are an inverted pendulum - the apes have a large torque requirement at the hip to keep the body upright

Question 2

how do we have a low cost method of moving

Answer 2

our centre of mass and the forces of gravity are kept in a nice dynamic balance

Question 3

The downside of bipedal robot have the disadvantage of being..

Answer 3

less stable - less gait options

Question 4

what does fully-actuated?

Answer 4

full control at every point of motion - problem as robots can’t have it at the ankle

Question 5

What was wrong with Asimo?

Answer 5

Walks with flat foot - crouching gait

weird turning

Pause at base to scan stairs

no collapse feature