Peter Dilworth

Virtual model control is a motion control framework that uses virtual components to create virtual forces generated when the virtual components interact with a robot system. An algorithm derived based on the virtual model control framework is applied to a physical planar bipedal robot. It uses a simple set of virtual components that allows the robot to walk successfully over level terrain. This paper also describes how the algorithm can be augmented for rough terrain walking based on geometric consideration. The resulting algorithm is very simple and does not require the biped to have an extensive sensory system. The robot does not know the slope gradients and transition locations in advance. The ground is detected using foot contact switches. Using the algorithm, we have successfully compelled a simulated seven-link planar biped to walk blindly up and down slopes and over rolling terrain. KEY WORDS—biped, legged locomotion, virtual model control, impedance control 1.

Virtual model control is a motion control framework that uses virtual components to create virtual forces generated when the virtual components interact with a robot system. An algorithm derived based on the virtual model control framework is applied to a physical planar bipedal robot. It uses a simple set of virtual components that allows the robot to walk successfully over level terrain. This paper also describes how the algorithm can be augmented for rough terrain walking based on geometric consideration. The resulting algorithm is very simple and does not require the biped to have an extensive sensory system. The robot does not know the slope gradients and transition locations in advance. The ground is detected using foot contact switches. Using the algorithm, we have successfully compelled a simulated seven-link planar biped to walk blindly up and down slopes and over rolling terrain. KEY WORDS—biped, legged locomotion, virtual model control, impedance control 1.

L'invention concerne un dispositif de dessin en trois dimensions (3D) comprenant un logement concu pour etre manipule par la main d'un utilisateur pour accepter une matiere d'alimentation qui est, dans certains modes de realisation, une fibre de thermoplastique. Le dispositif de dessin presente un ensemble buse comprenant une buse de sortie et un moteur raccorde a un train d'engrenages qui entre en prise avec la fibre de thermoplastique constituant la matiere d'alimentation de sorte que la rotation du moteur amene la matiere d'alimentation a etre extrudee depuis la buse de sortie pour former un objet en trois dimensions.

Virtual model control is a motion control framework that uses virtual components to create virtual forces generated when the virtual components interact with a robot system. An algorithm derived based on the virtual model control framework is applied to a physical planar bipedal robot. It uses a simple set of virtual components that allows the robot to walk successfully over level terrain. This paper also describes how the algorithm can be augmented for rough terrain walking based on geometric consideration. The resulting algorithm is very simple and does not require the biped to have an extensive sensory system. The robot does not know the slope gradients and transition locations in advance. The ground is detected using foot contact switches. Using the algorithm, we have successfully compelled a simulated seven-link planar biped to walk blindly up and down slopes and over rolling terrain.