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“Blind” Cheetah 3 robot can climb stairs littered with obstacles

  • Author:Coolidge
  • Source:www.diecastingpartsupplier.com
  • Release on :2018-07-06




The contact detection algorithm helps the robot determine the best time to transition a leg between swing and step, by constantly calculating for each leg three probabilities: the probability of a leg making contact with the ground, the probability of the force generated once the leg hits the ground, and the probability that the leg will be in midswing. The algorithm calculates these probabilities based on data from gyroscopes, accelerometers, and joint positions of the legs, which record the leg’s angle and height with respect to the ground.
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