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Bipedal Robot Locomotion
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Stabilization on two legs
Use of gyroscopes and accelerometers to maintain balance
Weight shifting for walking
Motorized joints mimic the shifting of weight from one leg to another
Energy-efficient locomotion
Implementation of passive dynamics and controlled actuation
Adaptive walking on uneven terrain
Real-time adjustment of foot placement and body posture using sensors
Joint articulation for movement
Multi-axis servo motors enable precise control of leg joints
Gait patterns generation
Application of inverse kinematics to determine joint movements for specific paths
Balance recovery mechanisms
Robots use rapid limb positioning and counterweights to prevent falls
Obstacle avoidance while walking
Integration of sensors and mapping algorithms to navigate around objects
Traction control
Design of foot soles with specialized materials and feedback loops for slip prevention
Impact absorption during walking
Use of compliant materials and active damping systems in the legs
Acceleration and deceleration in gait
Dynamic adjustment of motor power according to the desired pace
Turning while walking
Differential actuation of the legs to achieve rotation
Climbing steps or inclined surfaces
Extension of leg lifts the body, while foot sensors judge step height and angle
Standing from a seated position
Robot uses coordinated joint actuation to raise the center of mass
Kneeling and rising to navigate low spaces
Controlled lowering and raising of the robot's body using leg actuators
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