Videos

Please refer to the Publications page for details on the experiments

Video Reports and Results


You can see below the control experiments for a derived 2D biped only for the ZMP (leg removed from the trunk, feet changed, concept altered, control temporary) and not for the original dynamic walking concept.


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Summary video of the GIMBiped evolution (31.1M .avi) avi

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Variable stiffness in the actuator system. Soft and hard example. (14M .avi) avi

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First Hardware Test of GIMBiped. Standing stability (62M .avi) avi

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High Acceleration Motor's Test (21M .avi) avi

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Structure's DoFs (37M .avi) avi

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Sideways motion (22M .avi) avi - initial 3D prototype

Experiments walking with ZMP Fuzzy control

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25 Steps under Fuzzy-ZMP control (47M .avi) avi - (see Publications)

Remote Control from JPL(USA) to ATL(Finland)

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Long distance remote control over GIMNet from NASA/Caltech's Jet Propulsion Laboratory of the GIMBiped robot located in Aalto's Automation Technology Laboratory (79M .avi) avi - (see Publications)

Experiments walking with ZMP type of Trajectory

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Walking experiment using ZMP-type of reference trajectory. (14M .avi) avi - (ControlType1, Experiment#, Run#1. See Publications)

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Walking experiment using ZMP-type of reference trajectory. (14M .avi) avi - (ControlType1, Experiment#, Run#2. See Publications)

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Walking experiment using ZMP-type of reference trajectory. (10M .avi) avi - (ControlType1, Experiment#, Run#5. See Publications)

Experiments walking with a combination of ZMP and LCW type of Trajectory

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Walking experiment using a combination of ZMP and LCW-type of trajectory as reference. (23M .avi) avi - (ControlType2, Experiment#, Run#1. See Publications)

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Walking experiment using a combination of ZMP and LCW-type of trajectory as reference. (23M .avi) avi - (ControlType2, Experiment#, Run#2. See Publications)

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Walking experiment using a combination of ZMP and LCW-type of trajectory as reference. (19M .avi) avi - (ControlType2, Experiment#, Run#9. See Publications)