Exciting Engineered Passive Dynamics in a Bipedal Robot
| Autor: | Mikhail S. Jones, Alexander Spröwitz, Daniel Renjewski, Jonathan W. Hurst, Andrew Peekema |
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| Rok vydání: | 2015 |
| Předmět: | |
| Zdroj: | IEEE Transactions on Robotics. 31:1244-1251 |
| ISSN: | 1941-0468 1552-3098 |
| DOI: | 10.1109/tro.2015.2473456 |
| Popis: | A common approach in designing legged robots is to build fully actuated machines and control the machine dynamics entirely in software, carefully avoiding impacts and expending a lot of energy. However, these machines are outperformed by their human and animal counterparts. Animals achieve their impressive agility, efficiency, and robustness through a close integration of passive dynamics, implemented through mechanical components, and neural control. Robots can benefit from this same integrated approach, but a strong theoretical framework is required to design the passive dynamics of a machine and exploit them for control. For this framework, we use a bipedal spring–mass model, which has been shown to approximate the dynamics of human locomotion. This paper reports the first implementation of spring–mass walking on a bipedal robot. We present the use of template dynamics as a control objective exploiting the engineered passive spring–mass dynamics of the ATRIAS robot. The results highlight the benefits of combining passive dynamics with dynamics-based control and open up a library of spring–mass model-based control strategies for dynamic gait control of robots. |
| Databáze: | OpenAIRE |
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