Durante las Jornadas de Automática celebradas en Málaga del 4 al 6 de septiembre de 2024, se hizo entrega del premio nacional de automática.
En esta ocasión el premio se entregó al Prof. D. Carlos Balaguer Bernaldo de Quirós.
https://t.co/ynHjk8o8Zo
Marc Raibert, the founder of @BostonDynamics, said that the secret source of their robots is described in a 1999 paper: Sequential Composition of Dynamically Dexterous Robot Behaviors.
Here are some details:
1. Sequential Controller Composition:
They create control laws that can stabilize different regions of the robot's state space and switch between them to achieve stability.
2. Dynamical Pick and Place (DPP) Task:
The study focuses on the task Dynamical Pick and Place (DPP), where a robot with a flat paddle must strike a ball to bring it to rest at a specific location on the paddle.
3. Kinematics and Dynamics:
The motion of the robot and the ball is governed by Newton's laws of motion. This involves calculating the collision forces and the resulting velocities post-impact.
4. Potential and Kinetic Energy:
The task involves controlling the ball's potential and kinetic energy to bring it to rest at a specified location on the paddle.
5. Feedback Control:
The control system involves continuous control (smooth changes in the robot's movements) and discrete control (switching between different control laws). They use PD controllers (Proportional Derivative).
In summary, the secret sauce of the Boston Dynamics robots comes from a deep understanding of physics and control engineering.
Easy peasy lemon squeezy :-)
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