Actuating a simple 3D passive dynamic walker

Tedrake, Russ; Zhang, T.W.; Fong, Ming‐fai; Seung, H. Sebastian

doi:10.1109/robot.2004.1302452

Cited by 151 publications

(96 citation statements)

References 8 publications

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“…Instead, the problem is formulated through learning techniques and the parameters are obtained online using past experiences. Some learning strategies have been performed in other robots [3], [18], where the aim is to learn a policy that maps robot states and establish appropriate actions.…”

Section: Biomechanical Push Recoverymentioning

confidence: 99%

Walking Motion Generation and Neuro-Fuzzy Control with Push Recovery for Humanoid Robot

Méndez-Monroy

2017

INT J COMPUT COMMUN

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Push recovery is an essential requirement for a humanoid robot with the objective of safely performing tasks within a real dynamic environment. In this environment, the robot is susceptible to external disturbance that in some cases is inevitable, requiring push recovery strategies to avoid possible falls, damage in humans and the environment. In this paper, a novel push recovery approach to counteract disturbance from any direction and any walking phase is developed. It presents a pattern generator with the ability to be modified according to the push recovery strategy. The result is a humanoid robot that can maintain its balance in the presence of strong disturbance taking into account its magnitude and determining the best push recovery strategy. Push recovery experiments with different disturbance directions have been performed using a 20 DOF Darwin-OP robot. The adaptability and low computational cost of the whole scheme allows is incorporation into an embedded system.

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Section: Biomechanical Push Recoverymentioning

confidence: 99%

Walking Motion Generation and Neuro-Fuzzy Control with Push Recovery for Humanoid Robot

Méndez-Monroy

2017

INT J COMPUT COMMUN

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“…To gain controllability, minimal actuation and control are added to passive dynamic walking robots to create "quasi-passive dynamic walking robots" [7]. Many quasi-passive dynamic walking robots, which can walk on flat terrains and even up small slopes, adopt electric motors to generate desired torque precisely [8], thus sacrificing the compliance and passiveness of joints [9].…”

Section: Introductionmentioning

confidence: 99%

Design of a biped robot actuated by pneumatic artificial muscles

Liu

Zang

Liu

et al. 2015

BME

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Abstract. High compliant legs are essential for the efficient versatile locomotion and shock absorbency of humans. This study proposes a biped robot actuated by pneumatic artificial muscles to mimic human locomotion. On the basis of the musculoskeletal architecture of human lower limbs, each leg of the biped robot is modeled as a system of three segments, namely, hip joint, knee joint, and ankle joint, and eleven muscles, including both monoarticular and biarticular muscles. Each rotational joint is driven by a pair of antagonistic muscles, enabling joint compliance to be tuned by operating the pressure inside the muscles. Biarticular muscles play an important role in transferring power between joints. Walking simulations verify that biarticular muscles contribute to joint compliance and can absorb impact energy when the robot makes an impact upon ground contact.

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“…In particular, Acroban does not involve analytically real-time computed dynamics, neither ZMP based controller. Acroban's gait actually is semi-passive, following the trend of self-stabilizing passive mechanisms opened in [16] and of powered semi-passive robots (see [7]); the mechanism of semi-passive balance of the torso of Acroban could be compared to the powered passive dynamic walker of [35].…”

Section: Introductionmentioning

confidence: 99%

Bio-inspired vertebral column, compliance and semi-passive dynamics in a lightweight humanoid robot

Lapeyre

Oudeyer

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper presents the humanoid robot Acroban. We study two main issues: 1) Compliance and semi-passive dynamics for locomotion of humanoid robots regarding robustness against unknown external perturbations; 2) The advantages of a bio-inspired multi-articulated vertebral column.We combine mechatronic compliance with structural compliance due to the use of flexible materials. And we explore how these capabilities allow to enforce morphological computation in the design of robust dynamic locomotion. We also investigate the use of compliance to design semi-passive motor primitives using the torso and the arms as a system of accumulation/release of potential/kinetic energy.

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Actuating a simple 3D passive dynamic walker

Cited by 151 publications

References 8 publications

Walking Motion Generation and Neuro-Fuzzy Control with Push Recovery for Humanoid Robot

Walking Motion Generation and Neuro-Fuzzy Control with Push Recovery for Humanoid Robot

Design of a biped robot actuated by pneumatic artificial muscles

Bio-inspired vertebral column, compliance and semi-passive dynamics in a lightweight humanoid robot

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