New walking dynamics in the simplest passive bipedal walking model
نویسندگان
چکیده
منابع مشابه
Control of Bipedal Walking Exploiting Postural Reflexes and Passive Dynamics
Compared to human locomotion capabilities, today’s bipedal robots are still lacking in efficiency, velocity, and robustness. Thus, a control concept for dynamic walking based on insights into human motion control is suggested. Key features include the exploitation of passive dynamics, no usage of a full dynamic model, and hierarchical, distributed control. Walking robustness in presence of unkn...
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Models of bipedal robots in motion are fundamentally hybrid due to the presence of continuous phases, discrete transitions, and unilateral constraints arising from the contact forces between the robot and the ground. A major challenge in the control of bipedal robots has been to create a feedback theory that provides systematic synthesis methods, provable correctness and computational tools for...
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Biped robots that are expected to locomote in human environments require whole-body controllers that can offer precise tracking and well-defined disturbance rejection behavior. Although walking is a complex dynamical task involving both hybrid dynamics and underactuation, it is unclear the level of complexity needed to generate and execute these tasks. Previously in [4], we experimentally evalu...
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Applying an evolutionary algorithm, we first develop the morphology of a simulated passive dynamic bipedal walking device, able to walk down a shallow slope. Using the resulting morphology and adding minimal motor and sensory equipment, a neural controller is evolved, enabling the walking device to walk on a flat surface with minimal energy consumption. The applied evolutionary algorithm fixes ...
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mission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. Abstract In this paper we examine exchange-of-support for a simple planar bipedal robot. We derive a set of conditions which will...
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ژورنال
عنوان ژورنال: Applied Mathematical Modelling
سال: 2012
ISSN: 0307-904X
DOI: 10.1016/j.apm.2011.12.049