Robert Playter
speaker
1,075 appearances
1 recordings
1 series
first heard Apr 2023
last heard Apr 2023
Robert Playter’s voice in public audio — every appearance, attributed to the second.
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Appearances
And that makes all of the calculations around how to produce torques at that joint or positions makes it more complicated.
And so having all of the mathematics so it can deal with these singular configurations is one of many challenges that we face.
And I'd say in the...
In those earlier days, again, we were working with these really simplified models.
So we're trying to boil all the physics of the complex human body into a simpler subsystem that we can more easily describe in mathematics.
And sometimes those simpler subsystems don't have all of that complexity of the straight leg built into them.
And so what's happened more recently is we're able to apply techniques that let us take the full physics of the robot into account and deal with some of those strange situations like the straight leg.
Are you falling?
Underactuated is the right word, right?
You can't push the robot in any direction you want to, right?
And so that is one of the hard problems of legged locomotion.
And you have to do that for natural movement.
It's not necessarily required for natural movement.
It's just required...
We don't have a gravity force that you can hook yourself onto to apply an external force in the direction you want at all times.
The only external forces are being mediated through your feet.
And how they get mediated depend on how you place your feet.
And you can't just...
You know, God's hand can't reach down and push in any direction you want.
You know, so.
Showing 141–160 of 1,075 · page 8 of 54
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