SUPPORTING ONLINE MATERIAL for Efficient bipedal robots based on passive-dynamic walkers
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چکیده
S3 MIT learning biped. This movie begins with the powered robot imitating passive walking down a 0.9 degree slope, from three camera angles. Then it shows the robot learning to walk on flat terrain with foam protective pads. The controller kicks the robot into random initial conditions between learning trials. After a few minutes, the robot is walking well in place, so we command it to walk in a circle. Finally, we show the robot walking down the hall, on tiles and outside; this footage is taken from a single trial where the robot adapted to each change in the terrain as it walked.
منابع مشابه
Efficient bipedal robots based on passive-dynamic walkers.
Passive-dynamic walkers are simple mechanical devices, composed of solid parts connected by joints, that walk stably down a slope. They have no motors or controllers, yet can have remarkably humanlike motions. This suggests that these machines are useful models of human locomotion; however, they cannot walk on level ground. Here we present three robots based on passive-dynamics, with small acti...
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We consider passive dynamic walking machines of the kind originally studied by McGeer. For passive walking on arbitrarily small slopes, we show that any existing gaits must be correspondingly slow. The argument is rst presented for nonsingular mass distributions, where it is shown that small slopes preclude long steps and that small steps imply low speeds. The argument is then extended to singu...
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تاریخ انتشار 2005