Exploiting Inherent Robustness and Natural Dynamics in the Control of Bipedal Walking Robots (2000)
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BibTeX
@MISC{Pratt00exploitinginherent,
author = {Gill A. Pratt and Arthur C. Smith and Jerry E. Pratt and Jerry E. Pratt},
title = {Exploiting Inherent Robustness and Natural Dynamics in the Control of Bipedal Walking Robots},
year = {2000}
}
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Abstract
Walking is an easy task for most humans and animals. Two characteristics which make it easy are the inherent robustness (tolerance to variation) of the walking problem and the natural dynamics of the walking mechanism. In this thesis we show how understanding and exploiting these two characteristics can aid in the control of bipedal robots. Inherent robustness allows for the use of simple, low impedance controllers. Natural dynamics reduces the requirements of the controller. We present a series of simple physical models of bipedal walking. The insight gained from these models is used in the development of three planar (motion only in the sagittal plane) control algorithms. The first uses simple strategies to control the robot to walk. The second exploits the natural dynamics of a kneecap, compliant ankle, and passive swing-leg. The third achieves fast swing of the swing-leg in order to enable the robot to walk quickly (1.25 m s ). These algorithms are implemented on Spring Flamingo...
