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2019 Dynamic locomotion synchronization of bipedal robot and human operator via bilateral feedb... 2 

Biomechatronics and Intelligent Robotics Lab
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Dynamic locomotion synchronization of bipedal robot and human operator via bilateral feedback teleoperation
Video from MIT
Abstract
Despite remarkable progress in artificial intelligence, autonomous humanoid robots are still far from matching human-level manipulation and locomotion proficiency in real applications. Proficient robots would be ideal first responders to dangerous scenarios such as natural or man-made disasters. When handling these situations, robots must be capable of navigating highly unstructured terrain and dexterously interacting with objects designed for human workers. To create humanoid machines with human-level motor skills, in this work, we use whole-body teleoperation to leverage human control intelligence to command the locomotion of a bipedal robot. The challenge of this strategy lies in properly mapping human body motion to the machine while simultaneously informing the operator how closely the robot is reproducing the movement. Therefore, we propose a solution for this bilateral feedback policy to control a bipedal robot to take steps, jump, and walk in synchrony with a human operator. Such dynamic synchronization was achieved by (i) scaling the core components of human locomotion data to robot proportions in real time and (ii) applying feedback forces to the operator that are proportional to the relative velocity between human and robot. Human motion was sped up to match a faster robot, or drag was generated to synchronize the operator with a slower robot. Here, we focused on the frontal plane dynamics and stabilized the robot in the sagittal plane using an external gantry. These results represent a fundamental solution to seamlessly combine human innate motor control proficiency with the physical endurance and strength of humanoid robots.
robotics.scien...
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22 авг 2024

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Комментарии : 57   
@homieboi5352
@homieboi5352 10 месяцев назад
All of yall in the comments need to chill. Just appreciate this work for what it is. There's no way you're going to be able to buy CAD, code, or hardware from MIT smh
@PandaWorks32
@PandaWorks32 4 месяца назад
most university work is open source, they all use the same or similar algorithms for IK, and you can buy the hardware and actuators for a few bucks, model the limbs and 3D print them, and put the code together in an IDE or system like ROS and anyone can make robots. It has nothing to do with buying anything or money its about knowledge and advancement. Anyone can put this together just like a university student can, you just have to know the same shit. So ya people are going to be curious about how he put this together
@pedromorais7054
@pedromorais7054 3 месяца назад
1) this is NC State not MIT 2) maybe you can’t but lots of people can
@nin1ten1do
@nin1ten1do 3 месяца назад
coz you loser XD
@osakanone
@osakanone 3 месяца назад
Self tuning fuzzy pid, ik, some neural training to pre bias, a solver network w/ consequentialist goap... yeah idk, this can be replicated. It's very awesome though and people clearly want to get into this :3
@joannot6706
@joannot6706 2 года назад
very robust, makes me want to learn what else you achieved.
@wmrustycox
@wmrustycox 3 месяца назад
That's incredible. Having suffered serious back injuries years ago there are things that robot are doing I cannot....I am very impressed by its abilities. You know.. far far too often we take things for granted.. every day, mundane things like, standing on two legs....walking...traversing steps... that is we take them for granted until we can no longer preform those functions with issues. Appreciate your abilities.... for non are guaranteed... nor will they all last indefinitely !!!
@r5bc
@r5bc 2 года назад
Brilliant work! I subscribed after watching this video!
@ryanmckenna2047
@ryanmckenna2047 4 месяца назад
Really great work!
@pablofernandez2894
@pablofernandez2894 28 дней назад
wow.... amazing!
@Lardzor
@Lardzor 3 месяца назад
It almost seems like, with the camera angle, that you're trying to hide the metal rod that connects the robot to the desk behind it.
@jackhaley6332
@jackhaley6332 3 месяца назад
There is a cable, that’s it, but whatever makes you happy
@Lardzor
@Lardzor 3 месяца назад
@@jackhaley6332 You can see where there is a metal rod attached to the leg of the table in the background that extends to the robot. It's most visible at the 0:34 second mark.
@jackhaley6332
@jackhaley6332 3 месяца назад
@@Lardzor thats my bad, didnt see it initially, it is still a neat concept, just doesnt seem to be equipped with forward back stabilization in the video, thanks for pointing it out
@karim_Abd_ELAziz
@karim_Abd_ELAziz 3 года назад
fantastic .. i hope we can do the same Achievement in using hands .. legs took a lot of Time
@hazemahmed8333
@hazemahmed8333 3 года назад
fantastic work.
@alexandrepv
@alexandrepv 3 года назад
Is there a gyroscope on the torso or a tensioned cable (didn't see one though)? Stepping sideways is fine, but how does it maintain foward/barwards stability without stepping forwards of backwards?
@DantalionNl
@DantalionNl 3 года назад
Teleoperated from a tube in the back
@alexandrepv
@alexandrepv 3 года назад
@@DantalionNl Ah! Hiding in plain sight :D Thank you for pointing it out.
@PiefacePete46
@PiefacePete46 4 месяца назад
​@@alexandrepv ; I read in the description that it was sagitally stabilised by a gantry, but like you, I was damned if I could see it!
@zacharylamatrice2134
@zacharylamatrice2134 2 года назад
Write the log test was impressive nice work
@yayser
@yayser 2 месяца назад
ah this is perfect.
@amitaimedan
@amitaimedan 3 года назад
Looks awesome!
@d.g.7417
@d.g.7417 3 года назад
Fantastic! Great!
@WayneMcNab
@WayneMcNab 3 года назад
Definitely LIKE!
@cyansorcerer6491
@cyansorcerer6491 3 месяца назад
so impressive!
@dan_obie
@dan_obie 3 месяца назад
Throw a couple wheels on each foot and you've got Metal Gear Mk ii from Metal Gear Solid 4
@CintaurSA
@CintaurSA 3 месяца назад
Amazing
@nin1ten1do
@nin1ten1do 3 месяца назад
mark my word's.. one day a A.I: took a body.. and she will rew-play all those videos... or torturing small robots.. she will end us XD
@mneko4826
@mneko4826 10 месяцев назад
Fantastic 👏
@klaus6178
@klaus6178 3 года назад
Brilliant.
@dylan_curious
@dylan_curious 3 месяца назад
Skateboarding robots will be a thing...
@user-si4qc1vp5w
@user-si4qc1vp5w Месяц назад
It has a gyro wheel or stabilize itself by joint motors?
@trongnguyenphanminh5615
@trongnguyenphanminh5615 11 месяцев назад
wow, it very nice, Can you share me what to do for make this project, thanks you
@user-qi8zz6wn2h
@user-qi8zz6wn2h 3 года назад
nice!!!!!
@jtong8205
@jtong8205 5 месяцев назад
which control schemes did you use? It reminds me of the inverted pendulum.
@samac4750
@samac4750 3 месяца назад
Will you build the top torso with arms?
@198-rx
@198-rx 4 месяца назад
he is able to stay in balance
@bebert0712
@bebert0712 3 года назад
Skynet is coming 😁
@gigachad1983
@gigachad1983 3 года назад
0:01 it can twerk
@istvanfrank9201
@istvanfrank9201 3 года назад
WO AZ IGEN !!
@andyjonwei
@andyjonwei 3 месяца назад
Will it open source to people?
@tanjiro3285
@tanjiro3285 7 месяцев назад
which actuator ?
@N1ckfm
@N1ckfm 3 года назад
what is the grace if it has a tube in the back that holds it so that it does not fall forwards or backwards
@nicolasfigueroa8632
@nicolasfigueroa8632 2 года назад
yes min 0:35 and 0:41
@PiefacePete46
@PiefacePete46 4 месяца назад
I am not sure what the wording of your comment means, but the reason it is restrained this way is covered in the thorough description.
@sebastianreyes8025
@sebastianreyes8025 2 года назад
Cool, how do I build/program one of these at a small scale for a fr hundred dollars, donde source code and models I can 3d print, other parts list.
@Renaissance-fw1ox
@Renaissance-fw1ox 3 года назад
When will the code for this stuff be available for purchase or otherwise.
@biomechatronicsandintellig3133
@biomechatronicsandintellig3133 3 года назад
This work is from MIT.
@daddyplankton5855
@daddyplankton5855 2 года назад
@@biomechatronicsandintellig3133 so essentially never
@mistercohaagen
@mistercohaagen 4 месяца назад
@@daddyplankton5855 You'll get to see it IRL exactly once, if you survive the initial bombardment.
@PiefacePete46
@PiefacePete46 4 месяца назад
​@@daddyplankton5855 : It might be even longer than that.
@stimpyfeelinit
@stimpyfeelinit 2 года назад
put this guy on a skateboard
@Status_video_101
@Status_video_101 3 года назад
Please provide information about this robot
@williamhuang5329
@williamhuang5329 2 года назад
Hanzhen harmonic drive gear , strain wave reducer. robot joint, over 30 years experience
@qazdiego
@qazdiego Год назад
Do a kickflip!
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