Two-legged locomotion algorithm

A project log for ALICE: Robotic Exoskeleton

The first 100% open-source lower-limb robotic exoskeleton.

Guillermo Herrera-ArcosGuillermo Herrera-Arcos 08/31/2017 at 00:040 Comments

In the last log, we explained how the accelerometer-based algorithm works in one leg. Now, we are showing the implementation of this algorithm in both legs, being controlled by a programmable joystick. In this case, when you move the joystick to the right, the robot will move the right leg and when you move the joystick to the left, the robot will move the left leg, this allows the user to have control over the exoskeleton, deciding when to move each leg.

Here's a video demonstrating the two-legged locomotion algorithm in action:

Now, we are building the hip for our robot. Soon we will be able to do ergonomic tests with an user.

Thanks for reading.