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Human Reflexes Keep 'Little Hermes' Robot Upright

"Little Hermes" is a small-scale bipedal robot designed to go places that are unsafe for humans. Engineers from the University of Illinois  and MIT developed the robot, which can walk, run, jump, and interact with the environment in synchrony with a human operator. Little Hermes relies on human reflexes to remain upright during locomotion. The research team developed a motion-capture suit, which is like an exoskeleton worn by a human operator, according to University of Illinois engineering professor João Ramos. The suit captures the operator’s motion and the forces the operator exerts on the environment to move, and transfers that data to the robot, which reproduces the motion with little to no delay.

Topics:
Automation Motion Control Robotics

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    Transcript

    00:00:06 this work presents a tell operation policy to dynamically synchronize the locomotion of a human operator in the locomotion of a bipedal robot all the motions you see this video are commended in real time by the operators they are not programmed actions to achieve this we capture in locomotion data including torso in feet spatial position as well as the magnitude and location of the

    00:00:35 Nets ground contact force we condense this information using a simple model four legged locomotion the linear inverted pendulum which is represented by the line that connects the center of mass and the center of pressure to make the robot dynamically move in synchrony with the operator we first capture human motion trajectory in condensed is data using a dependable model the motion is

    00:01:07 fundamentally described by the translation of the center of mass and the center of pressure next we scale the motion of the pendulum model to robot proportions in this work the machine is about one third of human size and substantially lighter finally the robotic eliza's the reference from the simple model to compute contact forces for each foot and reproduce the

    00:01:36 movement of the operator additionally a feedback force show new red is applied to the operator to make sure that the human movement is synchronized with the motion of a much smaller and lighter robot this force is proportional to the relative motion velocity between human and robot when human and machine are dynamically synchronized via Italo operation the

    00:02:14 operator commends the bipedal robot to take steps in place or even jump these results represent fundamental solutions for mine human motor control intelligence with the physical robustness of robots