Exercises CG etc

Exercise 1

Your responses to these exercises should be posted on your weblog.

i)     If engineered or programmed badly, BigDog would fall over. Watch the full video again, and describe how BigDog’s legs move while walking– ie. what is the sequence of leg movements for one complete step? Use the terms BL, BR, FL, and FR for the back-left, back-right, front-left and front-right legs.

BigDog's BR stretches out to the left, crossing over BR both legs will naturally bend upon first push to make use of their centre of gravity, and BL stretching all the way to the end to stabilize the body weight of the BigDog. Whenever BL and BR crosses over each other, FL and FR must not cross over each other - Must stretch out or open or their CG will be too much resulting in instability of the body itself. Their motion must repeat, as in, FL FR crosses over each other, BL BR must stretch out, FL FR stretches out, BL BR crosses over each other

ii)       Explain how this sequence of movements manages to balance BigDog’s body weight.

iii)     Look at BigDog_kick_slow_motion.mov. Draw a storyboard of BigDog stabilising itself after being kicked.

You should draw the key poses. You don’t need to draw well – but you must show the leg positions and the body rotations around the X, Y and Z axes for each key pose.