Some old clips from the giant Ai vault. Here Robert is testing out a kinematics based controller for the Giant robot. This was a massive improvement over the previous non-kinematic controller.
Despite many within the company (myself included) pushing for encoders, we were not able (allowed) to install them... (correction: we were able to put encoders in the finger on the v6 robot)
Now build a giant robot to fight monsters with
This was version 0, the refinements done later improved the performance (1:1 movement mapping) dramatically.
damn cool stuff
Did they ever add output encoders (to the joints themselves)? Did that help the repeatability?
Despite many within the company (myself included) pushing for encoders, we were not able (allowed) to install them... (correction: we were able to put encoders in the finger on the v6 robot)