Powered bipeds based on passive dynamic principles

We describe three bipedal robots that are designed and controlled based on principles learned from the gaits of passive dynamic walking robots. This paper explains the common control structure and design procedure used to determine the mechanical and control parameters of each robot. We present this...

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Bibliographic Details
Published in5th IEEE-RAS International Conference on Humanoid Robots, 2005 pp. 110 - 116
Main Authors Anderson, S.O., Wisse, M., Atkeson, C.G., Hodgins, J.K., Zeglin, G.J., Moyer, B.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2005
Subjects
Actuators
Centralized control
Control systems
Hip
Humans
Knee
Legged locomotion
Motion control
Robots
Robust control
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ISBN0780393201
9780780393202
ISSN2164-0572
DOI10.1109/ICHR.2005.1573554

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Summary:We describe three bipedal robots that are designed and controlled based on principles learned from the gaits of passive dynamic walking robots. This paper explains the common control structure and design procedure used to determine the mechanical and control parameters of each robot. We present this work in the context of three robots: Denise, the Delft pneumatic biped, R1, a highly backdrivable electric biped, and R2, a hydraulic biped. This work illustrates the application of passive dynamic principles to powered systems with significant control authority
ISBN:0780393201
9780780393202
ISSN:2164-0572
DOI:10.1109/ICHR.2005.1573554