November 3, 2013AMBER 2 bipedal robot mimics humans for a more natural gait

AMBER 2 is a robotic simulation of bipedal locomotion that closely mirrors a human gait

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Bipedal robots have proved a challenging frontier for roboticists, with styles ranging from clunkers to lurchers to those seemingly falling over drunk. However, the AMBER lab at Texas A&M University has created universal mathematical functions of walking derived from human data and optimized for robotic systems. Their own proof of concept robots have strikingly human gaits and react appropriately to disturbances. Furthermore, the system has the potential to be applied to other bipedal robots to similarly upgrade their stride.

The AMBER lab, short for A&M Bipedal Experimental Robotics, recently developed its newest robot named AMBER 2. It can walk stably in two dimensions and is laterally supported by a boom in the third dimension.

The AMBER system is fundamentally derived from measuring human parameters in various motions, such as the velocity a knee moves while climbing stairs. However, in this particular example human knees have spikes of rotational velocity that aren't feasible within robotic systems, presenting constraints.

From the data, the team formed a mathematical model of walking which establishes every joint as a pendulum with a corresponding equation. This creates the "canon" of bipedal locomotion. The universal mathematical functions of bipedal locomotion can then be optimized for the known constraints of robotic hardware.

The mathematical solutions that have been developed to marry human data with robotic systems are just as important as the physical hardware developed to test the models and can even be applied to other bipedal robots. In fact, the team uses the commercially-available NAO robot to test new ideas, though the motion isn't as realistic as with the lab's fully articulated Amber.

In disturbance tests, AMBER 2 proves the power of the mathematical modeling, recovering from being pushed or having its “shins” hit with wooden planks. It reacts similarly as a human might, moving a leg backwards to absorb extra momentum or taking an extra compensatory half step forward.

Bipedal locomotion is obviously challenging and mathematically complex to implement, especially compared to other locomotion methods available to roboticists. Our centers of gravity are actually off-center, and we essentially pitch forward as we step, only to catch ourselves with our next step.

So why should robots follow our example? One reason comes from the AMBER lab itself, which applies its research to developing human prosthetic limbs. A more human leg for robots will lead to better robotic legs for humans.

In the video below you can compare a human and AMBER 2 walking side-by-side, and experience schadenfreude as it is pushed over to demonstrate that the boom is only providing lateral stability.

Source: AMBER lab

AMBER 2双足机器人可模仿人类做更为自然的运动

11月3日，2013AMBER 2双足机器人模仿人类更自然gait

AMBER 2是双足移动的机器人仿真的密切反映一个人的步态

图片廊（6图像）

双足机器人已经证明了一个具有挑战性的前沿机器人专家，与风格，从旧车换到lurchers那些看似下降了醉了。然而，琥珀实验室在德州农工大学创造了行走来源于人的数据和机器人系统进??行了优化的通用数学函数。自己的机器人概念证明具有显着人类的步态，并作出适当反应的干扰。此外，该系统有可能被应用到其他的双足机器人同样提升自己的步幅

琥珀实验室，简称A和：M双足实验机器人，最近开发了一个名为AMBER 2，可最新的机器人在两个维度稳定行走和横向由在第三维的悬臂支撑。

琥珀色系统从根本上来自于测量各种动作人类参数，如速度的膝盖移动时爬楼梯。然而，在这个特殊的例子的人类膝盖有转动速度的尖峰是不可行的机器人系统中，呈现约束。

从数据，该球队形成步行的一个数学模型，建立各关节作为具有摆相应的方程。这就造成了“佳能”双足移动的。双足移动的普遍数学函数然后可以为机器人硬件已知的约束优化。

已经开发结婚人类数据与机器人系统是作为物理硬件开发来测试模型，并可以同样重要的数学解决方案甚至可以应用于其他双足机器人。事实上，该团队使用市售的NAO机器人来测试新的想法，虽然动作并不像现实与实验室的充分阐述琥珀。

在干扰试验，AMBER 2证明了数学的力量建模，收复被推出或有击中木板的“小腿”。它的反应类似于一个人的可能，移动腿向后吸收多余的势头或采取额外的补偿一半的一步。

双足移动显然是具有挑战性的数学复杂的实施，特别是相对于提供给机器人专家等运动方式。我们的重心实际上是偏离中心的，我们基本上是前倾的，我们一步，只赶上我们与我们的下一个步骤。

那么，为什么机器人按照我们的例子吗？其中一个原因来自于AMBER实验室本身，适用其研究开发人类假肢。更人性化的腿的机器人将带来更好的机器人腿的人类。

在你下面的视频中可以比较人类和琥珀2步行并排侧和经验幸灾乐祸，因为它推过来证明热潮只提供了横向稳定性

来源：AMBER实验室