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This work presented the concept and the characteristics of BALLU, analyzed the pattern of its teleoperated walking, and proposed a suitable walking controller. Extending the previous introduction, a new implementation, BALLU2, was developed to be programmatically controllable, and the technical details were disclosed. One class of robots most commonly used in our daily lives is service robots. In particular, a central application is social robots that interact with humans and provide information. For instance, LG Electronics’ CLOi at an airport ( Incheon Airport, 2019) leads passengers to find a route inside the airport and informs them of their flight schedule. SoftBank’s Pepper at a library ( Roanoke County Public Library, 2018) helps the visitors find books. As a similar example, LinkedIn makes the use of Double Robotics’ telepresence robot to telecommute ( Double Robotics, 2015). These robots are more economical than human employees in providing an intuitive and easy interface to information. As a result, more service providers are seeking to introduce robots to their business ( Aymerich-Franch and Ferrer, 2020; Fukawa, 2020).
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The concept of BALLU is patented (US20180370040A1, WO2017087987A1) when the previous version of BALLU is introduced in “2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)”. Publisher’s Note where C d is the drag coefficient, A is the reference area which is a function of the heading direction, and v com is the speed of the robot. As a result, the state vectors x SS and x DS are x S S ≔ [ t S S − , v c , x , v c , x − , v c , z , p c , z , p F F , x ] T and x D S ≔ [ t D S − , v c , x , v c , z , p c , z , p F F , x ] T, where the ‘-’ superscript stands for the value of the previous phase. Considering the analysis in Section 3.2, the result is an acceptable choice and consistent with the author’s experience. 4.2 Function Approximation Boston Dynamics (2019). Spot — Boston Dynamics. https://www.bostondynamics.com/spot. [Accessed: 2021-06-21].The current system is set up for easy and modular development, as various processes are concurrently running on board, including the motor controller and the communication and messaging module. Shared memory is leveraged to share data between processes. Python is primarily used for simplicity, while C++ is used for low-level modules. 2.3 Simulation Environment
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When the robot is in a single support phase ( Figure 5C), there is only one supporting force upward, and additionally, the force needs to support the weight of the swing leg, resulting in the height decreasing, and the body sinking down.In practice, as injecting the same amount of helium every time to keep the body afloat is difficult, a generous amount of helium is initially injected, and counterweights are attached to the body to adjust the net upward force. This is done by calibrating the robot’s normal weight on a scale, which is empirically chosen to be 55 gf in the presented version of BALLU. Such a choice allows the robot to stay vertically upright when in a double support phase, but sink when in a single support phase, which will be important in the subsequent locomotion approach. 2.1.2 Pelvis Link Yoon J, Lee J (2017) Altitude and roll control of a hovering quad-rotor air vehicle using the multi-objective approximate optimization of proportional–integral–differential control. Eng Optim 49(10):1704–1718
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