There are a few of these being sold as products: AGIBOT has some models like that (eg https://www.agibot.com/products/A2_W). One argument that could be made for legged robots is that these wheeled ones can only work in wheelchair-accessible spaces. Legged robots can also balance themselves dynamically: a wheeled robot may tip over if anything violates its static balance, eg. carrying a load high up and going through a steep incline, though I guess having the torso be tiltable as in https://www.agibot.com/products/G2 addresses that.
Legged robots overall have more implementation complexity, spend energy just to idle standing up, but can go over much more varied terrain provided the controller is good enough. There are ways to adapt wheeled bases to different terrains (eg. larger wheels, whegs, RHex, rocker-bogies) but we know how to use legs to locomote over many terrains from personal experience, while the perfect wheeled/non-legged locomotion system perhaps remains to be designed.
There's also the way robotics is going toward data-driven methods, which in some forms (ie. imitation learning) require human teleoperation data. Here having the robot mimic the human form makes the mapping from human joints to robot joints easier (compared to other morphologies where you'd need to figure out how to best approximate a human motion with the joints/joint limits your robot has, though this is not impossible).
I use https://github.com/TxGVNN/github-explorer for this and even though it doesn't have a C-x C-f nicety (you just m-x github-explorer then type in the repo name) it works via http (or at least I don't recall giving it any API key or anything).
From what I can tell (by just glancing over the code) - it doesn't open the tree in Dired. I just wanted to browse any GitHub repo in Dired. You can browse the tree in any branch, view and copy files out, grab GH urls for files, for regions, etc. You just can't make any edits - no file/subdir renaming.
One thing to be mindful of is that you can get a simulation to behave in (almost) any way you want if you set the parameters right, so you should take care to understand the assumptions that you're baking into your sim before taking its results as gospel.
The requests would be a dimension-less quantity. There are a few examples of what those are and how they fit in:
- The frames in frames per second are dimensionless, thus the SI unit for FPS is frames/s. When the frames are periodic, such as monitor refresh rates are, the unit is Hz.
- Percentages are dimensionless quantities too, produced by divinding two quantities of the same dimension (ie unit). CPU%? That’s "busy second per second", which is dimensionless, and expressed as a percentage.
A dimensionless quantities don’t have any physical backing reality in terms of the, well, dimension in which you could measure it. Time, space, mass, etc.
Fun fact: angles are dimensionless! Both degrees and radians are just shorthands as divisions of the unit circle.
Think of those as event counts in an arrival process, then think of the events as impacts or strikes, and eventually you can come to the unit of countable Hurts.
These counts have implicit measurement windows since they are aperiodic. Rather than Hs representing "counts per second" akin to Hz being "cycles per second", I think we should combine it with an explicit window annotation. So 100 Hs/1s is the same rate as 6000 Hs/60s but with one second versus one minute counting interval.
There does not appear to be one in this robot, from what I am able to read about it. I think sometimes people assume there must be something like that to help balance.
This generalizes fixed 2-wheel dynamic balancers which mostly don’t have flywheels for stability either, the focus is on the dynamics of keeping the wheels under the center of gravity, or a bit offset when moving.
The novelty here is about switching between dynamic control policies while keeping them simple.
Legged robots overall have more implementation complexity, spend energy just to idle standing up, but can go over much more varied terrain provided the controller is good enough. There are ways to adapt wheeled bases to different terrains (eg. larger wheels, whegs, RHex, rocker-bogies) but we know how to use legs to locomote over many terrains from personal experience, while the perfect wheeled/non-legged locomotion system perhaps remains to be designed.
There's also the way robotics is going toward data-driven methods, which in some forms (ie. imitation learning) require human teleoperation data. Here having the robot mimic the human form makes the mapping from human joints to robot joints easier (compared to other morphologies where you'd need to figure out how to best approximate a human motion with the joints/joint limits your robot has, though this is not impossible).
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