ACHIRES: Bipedal Running Using High-speed Visual Feedback – (video).
ACHIRES is an “Actively Coordinated High-speed Image-processing Running Experiment System.” It is composed of high-speed vision and high-speed actuators to achieve instantaneous recognition and behavior. The similar technologies are used in our Janken (Rock Paper Scissors) Robot. High-speed vision recognizes the state of the biped robot at 600 fps for stable running without falling. The biped mechanism with the leg length of 14 cm is set to run in the sagittal plane. The running velocity of 4.2 km/h is achieved with simple control based on high-speed performance of sensory-motor system, unlike with computationally expensive ZMP-based control commonly used for balance. The aerial posture is recovered to compensate for the deviation from the stable trajectory using high-speed visual feedback. We also address a task of somersaulting. ACHIRES is going to be improved to push the envelope while demonstrating various biped locomotion tasks.
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