|
Home > Robots > Baby Beetle Robot |
|
|
|
|
The
Robots
Baby
Beetle Robot
This is a further improvement of the beetle robot and
is smaller in size (golfball used as a reference) as well
as more versatile, being omni-directional. Each leg has
3 dof, hence, the baby beetle consists of 18 dof. In the
movie section, a few of the clips shows its dexterity
on the ground. Each leg is controlled by a BS2SX and a
seventh does the leg-end higher level vector calculations
that coordinates the six legs. It's all done by 2nd order
polynomial fits and is quite accurate (leg-end positioned
to typically less than 1mm error). Why use inverse matrix
kinematics? . Surely it's better in this application to
use orthogonal generators to create repeating waveforms.
Problem with this beetle is that it's power hungry so
it will be redesigned to give at least 30mins of battery
life which is at least the same as the 2dof beetle.
You can see the Baby Beetle Robot performing Viennese
Waltz (robot uses 7 BS2SX's) here.
This choreograph shows off the omni-directional characteristics
of the robot. For the complete list of movies available
for viewing and downloading please go to the movies
section
|
|
|
|
|
