DocumentCode :
2937739
Title :
Locomoting with Less Computation but More Morphology
Author :
Matsushita, Kojiro ; Lungarella, Max ; Paul, Chandana ; Yokoi, Hiroshi
Author_Institution :
Dept. of Precision Engineering The University of Tokyo Tokyo, Japan matsushita@prince.pe.u-tokyo.ac.jp
fYear :
2005
fDate :
18-22 April 2005
Firstpage :
2008
Lastpage :
2013
Abstract :
Biped walking is one of the most graceful movements observed in humans. Today’s humanoid robots, despite their undeniably impressive performance, are still a long way from the elegance and grace found in Nature. To narrow the gap between natural and artificial systems, we propose to rely more on morphology, intrinsic dynamics, and less on raw computation. This paper documents a series of simulated and real “pseudo-passive” dynamic biped walkers in which computation is traded off for good morphology, that is, adequate mechanical design and appropriate material properties These two factors are parameterized, and the resulting solution space is explored in simulation. Interesting solutions are then realized in the real world. Our experiments show that successful pseudo-passive walkers with a good morphology locomote by converting oscillatory energy into forward movement.
Keywords :
biped locomotion; materials; mechanical design; morphology; new artificial intelligence; Aerodynamics; Aerospace engineering; Computational modeling; Humanoid robots; Humans; Legged locomotion; Material properties; Morphology; Precision engineering; Space exploration; biped locomotion; materials; mechanical design; morphology; new artificial intelligence;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
Type :
conf
DOI :
10.1109/ROBOT.2005.1570408
Filename :
1570408
Link To Document :
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