Walking robot

... a Neural Network for Control of a Walking Robot M. Anthony Lewis * Andrew H. Fagg t Alan Solidum Center for Neural Engineering and Institute for Robotics and Intelligent Systems University of Southern California, Los Angeles, CA 90089-2520 Abstract ...

This paper illustrates the application of recent research in region-of-attraction analysis for nonlinear hybrid limit cycles. Three example systems are analyzed in detail: the van der Pol oscillator, the "rimless wheel", and the "compass gait", the latter two being simplified models of underactuated walking robots. The method used involves decomposition of the dynamics about the target cycle into tangential and transverse components, and a search for a Lyapunov function in the transverse dynamics using sum-of-squares analysis (semidefinite programming). Each example illuminates different aspects of the procedure, including optimization of transversal surfaces, the handling of impact maps, optimization of the Lyapunov function, and orbitally-stabilizing control design.

In the field of minimally-actuated robots, energy efficiency and stability are two of the fundamental criteria that can increase autonomy and improve task-performance capabilities. In this paper, we demonstrate that the energetic cost of leg swinging in dynamic robots can be reduced without significantly affecting stability by emulating the physiological use of passive joint stiffness, and we suggest that similar

Abstract. Although future orbital facilities will have immense scale, details will require intricate operations in restrictive, confined quarters. LEMUR is a small, agile and capable six-legged walking robot that has been built at the Jet Propulsion Laboratory to perform dexterous ...

This paper describes two humanoid robots developed in the Humanoid Robotics Institute, Waseda University. Hadaly-2 is intended to realize information interaction with humans by integrating environmental recognition with vision, conversation capability (voice recognition, voice synthesis), and gesture behaviors. It also possesses physical interaction functions for direct contact with humans and behaviors that are gentle and safe for humans. WABIAN is a robot with a complete human configuration that is capable of walking on two legs and carrying things as with humans. Furthermore, it has functions for information interactions suite for uses at home.

This paper explores the effects of the elastic elements with the adjustable stiffness at the ankle joint on energy efficiency of a bipedal walking robot during the collision phase. A mechanism design approach is elaborated to study the energetics through two major efforts. For the ...

The goal of the planetary rover project is to prototype an autonomous mobile robot for planetary exploration. The authors have constructed a six-legged walking robot, called the Ambler, that features orthogonal legs, an overlapping gait, and a scanning laser rangefinder to model terrain. To enable the Ambler to walk over rugged terrain, they have combined perception, planning, and real-time control