The Meditating Philosopher | Design Can Aspire to be A Balance of Form and Function | Lex Fridman & Marc Raibert @TheMeditatingPhilosopher | Uploaded February 2024 | Updated October 2024, 13 hours ago.
I found this really interesting in a lot of ways. Lex Fridman has a diverse set of guests that often get undervalued or cast out as limited to science, but I think this conversation is broadly applicable to more domains than that, such as art, philosophy, and even ergonomics!
Here's the original talk: youtu.be/5VnbBCm_ZyQ?si=O0CXYsy6WXZvk-a9
This is from the paper he referenced from 30 years ago, and it had this excellent table, which uses great language.
Where do I get a job at the "Leg Laboratory"? That sounds like a neat place to have worked - almost like Willy Wonka's Chocolate Factory, but with pogo sticks and droids instead of candy canes and odd but helpful oompa loompa's!
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The original document is marked up like it was stored in a military file drawer somewhere:
Table 1-1: Milestones of the Leg Laboratory.
1982 Planar one-legged machine hops in place, travels at a specified rate, keeps its balance when disturbed, and jumps over small obstacles.
1983 Three-dimensional one-legged machine runs and balances on an open floor. Simulations reveal passively stabilized bounding gait for quadruped-like model.
1984 Quadruped runs with trotting gait using generalization of one-leg algorithms. Data from cat and human found to exhibit symmetries like those used to control running machines.
1985 Planar biped runs with one- and two-legged gaits and changes between gaits.
1986 Planar biped does flips, aerials, and runs at 11.5 mph. Monopod runs using leg with rotary joint and leaf-spring foot.
1987 Quadruped runs with trotting, pacing, and bounding gaits.
1988 Planar biped uses selected footholds and climbs short stairway. Quadruped does rudimentary transitions between running gaits. Reentrant trajectories found for simulated passive dynamic running. Computer simulation shows running in zero-g by bouncing between two floors. Simple physical model of zero-g running demonstrated.
1989 Planar biped jumps through hoop and runs with top speed of 13.1 mph. Simulated planar biped gallops. Hoof added to monopod improves performance of leafspring foot. Three-dimensional biped does simple running.
1990 Planar biped robot walks, gallops, and changes between walking and running. Simulation of passive dynamic running with knees.
1991 Kangaroo-like robot, with articulated leg and tail, takes first steps (hops). Computer simulations of simplified kangaroos and ostriches.
1992 3D biped robot does somersault. Kangaroo-like robot runs at 1.8 m/s. Simulated quadruped control system adjusts automatically for variations in body mass and leg length.
1993 3D Biped and Kangaroo appear with Sean Connery and Wesley Snipes in Rising Sun. Passive stability achieved for layout somersault in laboratory "doll".
1994 Cockroach simulations runs using kinematic motion data from animal. Stable Groucho running in simulated spherical cockroach (Hexahopper). Weight-shifting robot rocks with stability
Article link: ieeexplore.ieee.org/document/8206365
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Thanks!
I found this really interesting in a lot of ways. Lex Fridman has a diverse set of guests that often get undervalued or cast out as limited to science, but I think this conversation is broadly applicable to more domains than that, such as art, philosophy, and even ergonomics!
Here's the original talk: youtu.be/5VnbBCm_ZyQ?si=O0CXYsy6WXZvk-a9
This is from the paper he referenced from 30 years ago, and it had this excellent table, which uses great language.
Where do I get a job at the "Leg Laboratory"? That sounds like a neat place to have worked - almost like Willy Wonka's Chocolate Factory, but with pogo sticks and droids instead of candy canes and odd but helpful oompa loompa's!
----------
The original document is marked up like it was stored in a military file drawer somewhere:
Table 1-1: Milestones of the Leg Laboratory.
1982 Planar one-legged machine hops in place, travels at a specified rate, keeps its balance when disturbed, and jumps over small obstacles.
1983 Three-dimensional one-legged machine runs and balances on an open floor. Simulations reveal passively stabilized bounding gait for quadruped-like model.
1984 Quadruped runs with trotting gait using generalization of one-leg algorithms. Data from cat and human found to exhibit symmetries like those used to control running machines.
1985 Planar biped runs with one- and two-legged gaits and changes between gaits.
1986 Planar biped does flips, aerials, and runs at 11.5 mph. Monopod runs using leg with rotary joint and leaf-spring foot.
1987 Quadruped runs with trotting, pacing, and bounding gaits.
1988 Planar biped uses selected footholds and climbs short stairway. Quadruped does rudimentary transitions between running gaits. Reentrant trajectories found for simulated passive dynamic running. Computer simulation shows running in zero-g by bouncing between two floors. Simple physical model of zero-g running demonstrated.
1989 Planar biped jumps through hoop and runs with top speed of 13.1 mph. Simulated planar biped gallops. Hoof added to monopod improves performance of leafspring foot. Three-dimensional biped does simple running.
1990 Planar biped robot walks, gallops, and changes between walking and running. Simulation of passive dynamic running with knees.
1991 Kangaroo-like robot, with articulated leg and tail, takes first steps (hops). Computer simulations of simplified kangaroos and ostriches.
1992 3D biped robot does somersault. Kangaroo-like robot runs at 1.8 m/s. Simulated quadruped control system adjusts automatically for variations in body mass and leg length.
1993 3D Biped and Kangaroo appear with Sean Connery and Wesley Snipes in Rising Sun. Passive stability achieved for layout somersault in laboratory "doll".
1994 Cockroach simulations runs using kinematic motion data from animal. Stable Groucho running in simulated spherical cockroach (Hexahopper). Weight-shifting robot rocks with stability
Article link: ieeexplore.ieee.org/document/8206365
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Thanks!
