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Can we design controllers for bipedal robots based on simple models(templates) of their dynamics?


Martinez, Harold; Carbajal, Juan Pablo (2012). Can we design controllers for bipedal robots based on simple models(templates) of their dynamics? In: Dynamic Walking Conference 2012, Pensacola USA, 21 May 2012 - 24 May 2012.

Abstract

The development of biped machines, inspired by human locomotion, is an interesting subject in engineering science. In order to understand the principles involved in biped locomotion,researchers have proposed several mathematicalframeworks. All these models have provided technical knowledge of biped locomotion that has been applied in the development of many energy efficient biped machines. However, the construction of biped machines capable of exploiting passive dynamics in different gaits remains an unsolved engineering challenge. In this study we propose a controller of the angle of attack that exploits the passive dynamics of a compliant leg to develop stable patterns of locomotion and gait transitions in a defined range of energy. We adopt the spring loaded inverted pendulum (SLIP) model to represent running and walking. The controller naturally emerges from the identification of stable regions of locomotion as well as unstable regions.

The development of biped machines, inspired by human locomotion, is an interesting subject in engineering science. In order to understand the principles involved in biped locomotion,researchers have proposed several mathematicalframeworks. All these models have provided technical knowledge of biped locomotion that has been applied in the development of many energy efficient biped machines. However, the construction of biped machines capable of exploiting passive dynamics in different gaits remains an unsolved engineering challenge. In this study we propose a controller of the angle of attack that exploits the passive dynamics of a compliant leg to develop stable patterns of locomotion and gait transitions in a defined range of energy. We adopt the spring loaded inverted pendulum (SLIP) model to represent running and walking. The controller naturally emerges from the identification of stable regions of locomotion as well as unstable regions.

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Additional indexing

Item Type:Conference or Workshop Item (Speech), refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Event End Date:24 May 2012
Deposited On:05 Feb 2013 11:37
Last Modified:05 Apr 2016 16:28
Official URL:http://www.ihmc.us/dwc2012files/Martinez.pdf
Related URLs:http://dynamicwalking.org/dw2012/?q=about
Other Identification Number:merlin-id:7958
Permanent URL: https://doi.org/10.5167/uzh-73132

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