Powered bipeds based on passive dynamic principles

Stuart Anderson, Martijn Wisse, Chris Atkeson, Jessica K Hodgins, Garth Zeglin, and B. Moyer
5th IEEE-RAS International Conference on Humanoid Robots, December, 2005, pp. 110 - 116.


Download
  • Adobe portable document format (pdf) (505KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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.

Notes
Associated Project(s): Dynamic Biped
Number of pages: 6

Text Reference
Stuart Anderson, Martijn Wisse, Chris Atkeson, Jessica K Hodgins, Garth Zeglin, and B. Moyer, "Powered bipeds based on passive dynamic principles," 5th IEEE-RAS International Conference on Humanoid Robots, December, 2005, pp. 110 - 116.

BibTeX Reference
@inproceedings{Anderson_2005_5600,
   author = "Stuart Anderson and Martijn Wisse and Chris Atkeson and Jessica K Hodgins and Garth Zeglin and B. Moyer",
   title = "Powered bipeds based on passive dynamic principles",
   booktitle = "5th IEEE-RAS International Conference on Humanoid Robots",
   pages = "110 - 116",
   month = "December",
   year = "2005",
}