Disney Stickman Towards a Human Scale Acrobatic Robot
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Disney Research is teaching this skinny robot how to perform a variety of somersaulting stunts.
“Stickman” is a z-shaped robot about seven feet in length and weighing about 40 pounds. The frame is made of 80-20 and is capable of folding up tightly or extending almost into a straight line using two pneumatic actuators. In doing so the robot changes its moment of inertia and hence its spin rate, much like an ice skater pulling her arms in to accelerate her rotation. In our experiments, we attach one end to a long steel rod, hoist it up to the ceiling, and drop it.
The robot swings forward and lets go of the rod, sending it flying out over some foam mats. After a flip or two, the robot lands on the mats in a target configuration—usually stretched out parallel to the ground to distribute the force of impact and minimize the chance of damage to itself.
To perform intelligently, the robot uses two sets of sensors: an inertial measurement unit, or IMU, and an array of three laser rangefinders. The IMU uses gyroscopes and accelerometers to estimate the orientation of the robot relative to the ground and to measure the robot’s angular velocity. When the IMU thinks the rangefinders are pointed at the ground, they take range measurements. Each of the three is mounted at a slightly different angle so they “see” the ground at slightly different times, helping us to estimate not only the robot’s height but also its velocity.
Disney Human Scale Acrobatic Robot, Stickman technology stocks | |
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| Science & Technology | Upload TimePublished on 23 May 2018 |
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