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.
The sequence of the leg movements for one complete step is alternate leg move and cross leg move. The front and the back legs take turns to cross their legs while moving. Let's say if the BigDog is moving to the left, the FR will actually cross over FL from the front first while BL and BR will stay on the spot. Next will be the back legs' turn to cross over. After FL cross over FR from the back to stand back to the original position, BR will cross over BL from the front to continue the movement to the left while the front legs will stand till apart to balance out. Then BL will cross over BR from the back to complete one step.
ii) Explain how this sequence of movements manages to balance BigDog’s body weight.
The centre of gravity depends on the surface area and height of the object. In order to balance BigDog's body weight. We have to ensure that the leg movement have to be coordinated to ensure that BigDog can be balanced enough.
The sequence of the leg movements for one complete step is alternate leg move and cross leg move. The front and the back legs take turns to cross their legs while moving. Let's say if the BigDog is moving to the left, the FR will actually cross over FL from the front first while BL and BR will stay on the spot. Next will be the back legs' turn to cross over. After FL cross over FR from the back to stand back to the original position, BR will cross over BL from the front to continue the movement to the left while the front legs will stand till apart to balance out. Then BL will cross over BR from the back to complete one step.
ii) Explain how this sequence of movements manages to balance BigDog’s body weight.
The centre of gravity depends on the surface area and height of the object. In order to balance BigDog's body weight. We have to ensure that the leg movement have to be coordinated to ensure that BigDog can be balanced enough.
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.)
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