Hobby Humanoid Robot Rides Bicycle
October 23rd, 2011Via: Robosavvy:
PRIMER-V2 is the name of a robot and his custom bike. Dr.Guero hooked a KHR3HV bipedal robot to a small bike.
The robot pedals with his feet at variable speed. The steering is done by the robot hands as with a normal bike, and remote controled by a human.
Stability is acheived by relying on the inertial centrifugal effect of the front wheel and on a gyro aided by a PID controller that takes over streering when driving in a straigh line. Seems like when the robot steers his arms he also bends the waist leaning a bit into the turn. Breaking is acheived by taking the feet off the pedals and pointing them down to the ground using the metal feet as friction breaks.
