Media
MABEL Videos
The MABEL videos (continually updated) can be found at http://www.eecs.umich.edu/~grizzle/papers/MABEL.html
Thumper Videos (June 2008)
- HD Thumper Video 1
- This was a video after we moved the computer down and added an additional balancing beam to increase the rotational inertial of the torso. We made those changes in order to stablize the robot a bit more and allow us to run at a consistent, fast speed.
- HD Thumper Video 3
- Another video of Thumper with the new attachments, the robot fell at the end, partly due to me changing the setpoint velocity too rapidly. You can see the controller trying to correct the disturbance, but the foot slipped.
- Magic Smoke
- A favorite of mine! For some unknown reason the leg angle motor released its magic smoke. It smelled horrible in the lab for the rest of the day.
Thumper Videos (May 2008)
- HD Thumper
- This is one of our first videos where the robot self stablizes and hops.
- Broken Cable
- This was our first (and only) broken cable. Our consistency check module was not running at the time, and did not shutdown the robot like it should have. The leg ended up hyper-extending as the cables fell off (which looked amazingly painful).
- Falling Compilation
- In case if you have any doubts about whether the boom stablizes the robot, here is a compilation of our failed runs.