Grupos de Investigación de Robótica

MABEL: cómo aprende a andar un robot bípedo, incluyendo trampas y… dolorosas roturas

No dejo de asombrarme con estos vídeos de robots, a cual más «humano» en sus
gestos. En esta ocasión es un robot llamado MABEL al que
están enseñando a andar. Es increíble ver cómo se adapta a los diversos cambios
de materiales en el suelo que le van planteando durante las pruebas, los
tropiezos y gestos tan aparentemente «instintivos. Cuando finalmente se rompe la
pierna (¡ouch!) hasta duele un poco...

http://www.microsiervos.com/archivo/tecnologia/mabel-robot-bipedo.html



In this experiment, we are evaluating the inherent robustness of MABEL's 'almost' nominal gait. [This work is supported by the National Science Foundation (NSF)]

Question: How far can MABEL step down without falling? To find out, the robot goes until it falls.
She was able to handle a 2.5 inch (6.35 cm) drop off. In the end, she did not really fall. Each shin has a built in mechanical fuse that gives way when the load on the leg exceeds a threshold. This is done to avoid damage to the bearings in the hips. The experiment stopped when the fuse in MABEL's shin gave way. The resulting fall is quite spectacular, but does not damage the robot. It takes about an hour to reassemble the leg.

Note that the robot does not have a camera. It has no knowledge of the obstacles. If you compare the programmed gait to previous gaits we have used, you will note the increased swing leg height. That is the ONLY change. No reflexes have been programmed in, no additional compliance, nothing extra. Such things will come later.

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