Human-Inspired Walking in AMBER 1.0 and AMBER 2.0
نویسندگان
چکیده
Human evolution has made the two legs as the only tools for locomotion in humans. In other words, human evolution has made and continuously improved bipedal (two legged) walking to an extent that it can exhibit amazingly robust behaviors over a wide variety of terrains in the environment. This is one of the factors why emulating human walking has been a continued objective for a majority of bipedal walking researchers. Our approach is to carefully understand the dynamics underlying natural human-like walking, apply provable control laws that achieve the desired walking ”pattern” in the robot, and at the same time have human-like nature entwined in these walking controllers.
منابع مشابه
From Formal Methods to Algorithmic Implementation of Human Inspired Control on Bipedal Robots
This paper presents the process of translating formal theory and methods to efficient algorithms in the context of human-inspired control of bipedal robots, with the end result being experimentally realized robust and efficient robotic walking with AMBER. We begin by considering human walking data and find outputs (or virtual constraints) that, when calculated from the human data, are described...
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