DocumentCode
2989155
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
fYear
2005
fDate
5-5 Dec. 2005
Firstpage
110
Lastpage
116
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Humanoid Robots, 2005 5th IEEE-RAS International Conference on
Conference_Location
Tsukuba
Print_ISBN
0-7803-9320-1
Type
conf
DOI
10.1109/ICHR.2005.1573554
Filename
1573554
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