Robot Developed at EPFL Taught to Walk by Data Based on Horse Movements
A new robot is developed at École Polytechnique Fédérale de Lausanne (EPFL) and has been taught to walk based on data describing the movements of a horse. EFPL's Cheetah-Cub is under development at the Biorobotics Laboratory since 2008.
The robot is being taught to walk using some tricks and a Central Pattern Generator (CPG) network is used for the same. Under this technique, movements are generated according to a repetitive pattern. It is said that the movements are quite difficult to be generated outside the lab since the ground will not be even always.
The movements taught to the robot are developed by the Italian Institute of Technology (IIT). The IIT team broke down the movements of horses with the help of motion capture into kinematic Motion Primitives (kMP).
The Cheetah-Cub was fed with these movements to help him mimic the same with its spring-based limbs. A three percent difference was seen in the movements. "A possible interpretation is that the kMPs extracted from walk, trot, and gallop are in fact the same set of kMPs, that together are sufficient to describe the three different gaits", said the researchers.
Transitional movements are also developed to help the robot move between each walk smoothly. The research was published in the March 2013 issue of Biological Cybernetics.
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