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

  Рет қаралды 43,679

Biomechatronics and Intelligent Robotics Lab

Biomechatronics and Intelligent Robotics Lab

3 жыл бұрын

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.sciencemag.org/conte...
copyright belongs to authors and publisher

Пікірлер: 55
@joannot6706
@joannot6706 2 жыл бұрын
very robust, makes me want to learn what else you achieved.
@homieboi5352
@homieboi5352 8 ай бұрын
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 2 ай бұрын
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 Ай бұрын
1) this is NC State not MIT 2) maybe you can’t but lots of people can
@nin1ten1do
@nin1ten1do Ай бұрын
coz you loser XD
@osakanone
@osakanone Ай бұрын
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
@r5bc
@r5bc 2 жыл бұрын
Brilliant work! I subscribed after watching this video!
@wmrustycox
@wmrustycox Ай бұрын
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 !!!
@ryanmckenna2047
@ryanmckenna2047 2 ай бұрын
Really great work!
@WayneMcNab
@WayneMcNab 3 жыл бұрын
Definitely LIKE!
@amitaimedan
@amitaimedan 3 жыл бұрын
Looks awesome!
@d.g.7417
@d.g.7417 3 жыл бұрын
Fantastic! Great!
@hazemahmed8333
@hazemahmed8333 3 жыл бұрын
fantastic work.
@cyansorcerer6491
@cyansorcerer6491 Ай бұрын
so impressive!
@klaus6178
@klaus6178 3 жыл бұрын
Brilliant.
@Lardzor
@Lardzor Ай бұрын
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 Ай бұрын
There is a cable, that’s it, but whatever makes you happy
@Lardzor
@Lardzor Ай бұрын
@@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 Ай бұрын
@@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
@zacharylamatrice2134
@zacharylamatrice2134 2 жыл бұрын
Write the log test was impressive nice work
@yayser
@yayser 25 күн бұрын
ah this is perfect.
@karim_Abd_ELAziz
@karim_Abd_ELAziz 3 жыл бұрын
fantastic .. i hope we can do the same Achievement in using hands .. legs took a lot of Time
@mneko4826
@mneko4826 8 ай бұрын
Fantastic 👏
@CintaurSA
@CintaurSA Ай бұрын
Amazing
@jtong8205
@jtong8205 3 ай бұрын
which control schemes did you use? It reminds me of the inverted pendulum.
@user-qi8zz6wn2h
@user-qi8zz6wn2h 3 жыл бұрын
nice!!!!!
@alexandrepv
@alexandrepv 3 жыл бұрын
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 жыл бұрын
Teleoperated from a tube in the back
@alexandrepv
@alexandrepv 3 жыл бұрын
@@DantalionNl Ah! Hiding in plain sight :D Thank you for pointing it out.
@PiefacePete46
@PiefacePete46 2 ай бұрын
​@@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!
@samac4750
@samac4750 Ай бұрын
Will you build the top torso with arms?
@trongnguyenphanminh5615
@trongnguyenphanminh5615 9 ай бұрын
wow, it very nice, Can you share me what to do for make this project, thanks you
@tanjiro3285
@tanjiro3285 5 ай бұрын
which actuator ?
@andyjonwei
@andyjonwei 2 ай бұрын
Will it open source to people?
@dylan_curious
@dylan_curious Ай бұрын
Skateboarding robots will be a thing...
@istvanfrank9201
@istvanfrank9201 3 жыл бұрын
WO AZ IGEN !!
@198-rx
@198-rx 2 ай бұрын
he is able to stay in balance
@dan_obie
@dan_obie Ай бұрын
Throw a couple wheels on each foot and you've got Metal Gear Mk ii from Metal Gear Solid 4
@bebert0712
@bebert0712 2 жыл бұрын
Skynet is coming 😁
@sebastianreyes8025
@sebastianreyes8025 Жыл бұрын
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.
@gigachad1983
@gigachad1983 3 жыл бұрын
0:01 it can twerk
@nin1ten1do
@nin1ten1do Ай бұрын
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
@Renaissance-fw1ox
@Renaissance-fw1ox 3 жыл бұрын
When will the code for this stuff be available for purchase or otherwise.
@biomechatronicsandintellig3133
@biomechatronicsandintellig3133 3 жыл бұрын
This work is from MIT.
@daddyplankton5855
@daddyplankton5855 Жыл бұрын
@@biomechatronicsandintellig3133 so essentially never
@mistercohaagen
@mistercohaagen 2 ай бұрын
@@daddyplankton5855 You'll get to see it IRL exactly once, if you survive the initial bombardment.
@PiefacePete46
@PiefacePete46 2 ай бұрын
​@@daddyplankton5855 : It might be even longer than that.
@N1ckfm
@N1ckfm 3 жыл бұрын
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 жыл бұрын
yes min 0:35 and 0:41
@PiefacePete46
@PiefacePete46 2 ай бұрын
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.
@stimpyfeelinit
@stimpyfeelinit 2 жыл бұрын
put this guy on a skateboard
@Status_video_101
@Status_video_101 3 жыл бұрын
Please provide information about this robot
@williamhuang5329
@williamhuang5329 Жыл бұрын
Hanzhen harmonic drive gear , strain wave reducer. robot joint, over 30 years experience
@qazdiego
@qazdiego Жыл бұрын
Do a kickflip!
2019 Dynamic locomotion synchronization of bipedal robot and human operator via bilateral feedb... 3
0:37
Biomechatronics and Intelligent Robotics Lab
Рет қаралды 11 М.
WHO DO I LOVE MOST?
00:22
dednahype
Рет қаралды 22 МЛН
The day of the sea 🌊 🤣❤️ #demariki
00:22
Demariki
Рет қаралды 78 МЛН
Always be more smart #shorts
00:32
Jin and Hattie
Рет қаралды 29 МЛН
Learning Robust Autonomous Navigation and Locomotion for Wheeled-legged Robots
2:52
Robotic Systems Lab: Legged Robotics at ETH Zürich
Рет қаралды 158 М.
BirdBot, an energy-efficient robot leg inspired by birds' legs
3:20
Dynamic Locomotion Group
Рет қаралды 123 М.
Does our robot have bird legs?
4:21
Agility Robotics
Рет қаралды 48 М.
LegLab
1:50
Boston Dynamics
Рет қаралды 716 М.
Ultralight Bipedal Robot - Mechanical Design
3:54
R.Botic
Рет қаралды 4,4 М.
Atlas Gets a Grip | Boston Dynamics
1:21
Boston Dynamics
Рет қаралды 9 МЛН
M-Blocks 2.0: Self-assembling Modular Robots
2:20
MIT CSAIL
Рет қаралды 212 М.
Cassie: Dynamic Planning on Stairs
3:37
Agility Robotics
Рет қаралды 1,5 МЛН
Fast Human-like Walking in a Bipedal Robot
1:52
Dynamic Locomotion Group
Рет қаралды 16 М.
#miniphone
0:16
Miniphone
Рет қаралды 3,5 МЛН
Gizli Apple Watch Özelliği😱
0:14
Safak Novruz
Рет қаралды 3,5 МЛН
Samsung Galaxy 🔥 #shorts  #trending #youtubeshorts  #shortvideo ujjawal4u
0:10
Ujjawal4u. 120k Views . 4 hours ago
Рет қаралды 9 МЛН