bipedalism in robotics

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Bipedalism in Robotics By Shuhan Mirza

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Bipedalism in Robotics

Bipedalism in RoboticsBy Shuhan Mirza

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Definition and the formal things. :PThe word is derived from theLatinwordsbi(s)'two' andped-'foot.There are a number of states of movement commonly associated with bipedalism.1.Standing. Staying still on both legs. In most bipeds this is an active process, requiring constant adjustment of balance.2.Walking. One foot in front of another, with at least one foot on the ground at any time.3.Running. One foot in front of another, with periods where both feet are off the ground.4.Jumping/hopping. Moving by a series of jumps with both feet moving together.

? WHY ?

ALLOMETRY .........theory and bla bla bla :PAllometryis the study of the relationship of body size toshape,anatomy,physiologyand finally behavior.Allometry is the most important part in the Bipedalism in Robotics.

Resource : https://en.wikipedia.org/wiki/Allometry

Mechanics more theories.. :pStandingEnergy-efficient means of standing bipedally involve constant adjustment of balance, and of course these must avoidovercorrection.WalkingWalking is characterized by an "inverted pendulum" movement in which thecenter of gravityvaults over a stiff leg with each step.Force platescan be used to quantify the whole-body kinetic & potential energy, with walking displaying an out-of-phase relationship indicating exchange between the two. Interestingly, this model applies to all walking organisms regardless of the number of legs, and thus bipedal locomotion does not differ in terms of whole-body kinetics.[75]In humans, walking is composed of several separate processes:[74]Vaulting over a stiff stance legPassive ballistic movement of the swing legA short 'push' from the ankle prior to toe-off, propelling the swing legRotation of the hips about the axis of the spine, to increase stride lengthRotation of the hips about the horizontal axis to improve balance during stance

Types Of WalkingStaticDynamic

STATIC WALKING

DYNAMIC WALKING

CHALLENGES( )STANDINGOn a plane areaOn a rough areaShould stand after an impactShould stand on its own after falling

Why do we fall Bruce?

SOLUTION PID { PID, SUST_Optimistic} :PVsido {this soft uses pid too.}

THE END :D, :D