Post by Admin on Jan 2, 2016 21:41:19 GMT
CHARLI-L
In collaboration amongst 16 undergrad & graduate students, lead by Prof Dennis Hong, with 1.5years in physical development, a total component count of 276 parts, CHARLI-L utilises a total of 29x dynamixel servos (18x Legs, 8x Arms & 3x Head) & uses a ZMP-based control approach around a custom sinusoidal gait pattern, exploring the relationship between the academic Zero Moment Point approach and the sinusoidal foot trajectory approach mainly adopted in hobbyist bipedal humanoids.
Despite using 18x Dynamixel EX-106+ in the lower body, CHARLI-L has only 5 DOF in each leg. The reason for this is the necessity of ganging 2x servo's per DOF (exc 1x ankle DOF). It is also worth noting the innovative use of the 'sprung' Four-Bar-Linkage, stretched across both legs to cleverly benefit from mechanical advantage & additional 5Nm of moving power, however this exploit was arguable negated with the loss of 1x DOF in the Hip (Yaw axis).
Overall Height: 1410mm
Overall Width (arms ext): 1354mm
Leg Length: 775mm
Foot Width: 140mm
Weight: 12.7kg
Leg Servo Torque (each): 10.5Nm
(2x per upper leg joint, plus 5Nm mechanical advantage of Four-bar linkage giving 26Nm)
Dynamixel EX-106+ (RS485 Asynchronous Serial)
0.26Nm per 1% (127g)body weight
Servo Dims: W40.2xH65.1xD46
Servo Weight: 154g
Number of Servo's: 18 (legs only)
Leg Servo Weight: 2.77kg (legs only)
Arm Servo (x8) Weight: 0.28kg/0.5kg
(3.6Nm/6.3Nm each)
Head Servo (x3) Weight: 0.22kg (3.6Nm each)
Total Servo Weight: 3.77kg (inc legs)
Servo's accountable weight: 29.7%
Rpm: 69.93 (@18.5V)
Lower body weight: 6.8kg (53.5%)
In collaboration amongst 16 undergrad & graduate students, lead by Prof Dennis Hong, with 1.5years in physical development, a total component count of 276 parts, CHARLI-L utilises a total of 29x dynamixel servos (18x Legs, 8x Arms & 3x Head) & uses a ZMP-based control approach around a custom sinusoidal gait pattern, exploring the relationship between the academic Zero Moment Point approach and the sinusoidal foot trajectory approach mainly adopted in hobbyist bipedal humanoids.
Despite using 18x Dynamixel EX-106+ in the lower body, CHARLI-L has only 5 DOF in each leg. The reason for this is the necessity of ganging 2x servo's per DOF (exc 1x ankle DOF). It is also worth noting the innovative use of the 'sprung' Four-Bar-Linkage, stretched across both legs to cleverly benefit from mechanical advantage & additional 5Nm of moving power, however this exploit was arguable negated with the loss of 1x DOF in the Hip (Yaw axis).
Overall Height: 1410mm
Overall Width (arms ext): 1354mm
Leg Length: 775mm
Foot Width: 140mm
Weight: 12.7kg
Leg Servo Torque (each): 10.5Nm
(2x per upper leg joint, plus 5Nm mechanical advantage of Four-bar linkage giving 26Nm)
Dynamixel EX-106+ (RS485 Asynchronous Serial)
0.26Nm per 1% (127g)body weight
Servo Dims: W40.2xH65.1xD46
Servo Weight: 154g
Number of Servo's: 18 (legs only)
Leg Servo Weight: 2.77kg (legs only)
Arm Servo (x8) Weight: 0.28kg/0.5kg
(3.6Nm/6.3Nm each)
Head Servo (x3) Weight: 0.22kg (3.6Nm each)
Total Servo Weight: 3.77kg (inc legs)
Servo's accountable weight: 29.7%
Rpm: 69.93 (@18.5V)
Lower body weight: 6.8kg (53.5%)