This shows out-takes
from training of the one-legged hopping machine. Watch it fall over in
various ways. (3.8Mb) |
This shows the fully-trained
one-legged hopping machine following a path through its environment. It
can go up and down a ramp without falling over. (3.6 Mb) |
This shows one of the
hopping machine's failed attempts to climb the ramp. A foot trail is rendered,
which can help determine what has gone wrong. (2.9 Mb) |
Only the motion sequencer
is used in the controller, no other controller modules are active. The
biped makes stereotyped stepping movements and falls down immediately.
(1.8 Mb) |
The effect of hip side
compensation is demonstrated. Before hip side compensation training the
biped sways from side to side as it walks. After training the biped stays
more upright. (2.2 Mb). |
The combined effect
of hip twist compensation and arm swing is demonstrated. Before these things
are trained the biped twists from left to right as it walks. After training
the biped is steadier. (3.0 Mb) |
The effect of global
side drift compensation is demonstrated. Before compensation training the
biped becomes unstable when it leaves its desired path. (3.6 Mb) |
A tripping event is
demonstrated - the biped's foot touches the ground prematurely during a
walking cycle. (1.3 Mb) |
The effect of leg placement
is demonstrated. Without it the biped makes no attempt to correct a falling
motion. With correct leg placement the biped will place the feet to try
and keep the body upright. (1.7 Mb) |
Some out-takes from
training are shown - the biped falls over in various ways as it learns
to walk. (5.5 Mb) |
Successful walking -
walking with a steady gait along flat ground, walking at various speeds,
changing direction, and walking up and down slopes. (14.2 Mb) |
This shows what happens
to the biped robot when the controller goes astray. (1 Mb) |
