Title :
Powered bipeds based on passive dynamic principles
Author :
Anderson, S.O. ; Wisse, M. ; Atkeson, C.G. ; Hodgins, J.K. ; Zeglin, G.J. ; Moye, B.
Author_Institution :
Carnegie Mellon Univ., Pittsburgh, PA
Abstract :
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
Keywords :
hydraulic control equipment; legged locomotion; pneumatic control equipment; robot dynamics; Delft pneumatic biped; backdrivable electric biped; bipedal robots; hydraulic biped; passive dynamic principles; passive dynamic walking robots; Actuators; Centralized control; Control systems; Hip; Humans; Knee; Legged locomotion; Motion control; Robots; Robust control;
Conference_Titel :
Humanoid Robots, 2005 5th IEEE-RAS International Conference on
Conference_Location :
Tsukuba
Print_ISBN :
0-7803-9320-1
DOI :
10.1109/ICHR.2005.1573554
