Name
Abstract | ||
|---|---|---|
This paper discusses the design principles and phi- losophy of the BiMASC, a biped with Mechanically Adjustable Series Compliance which incorporates tuned mechanical leg springs. This robot will be capable of dynamic running using mechanical leg springs, as well as dynamic ballistic walking with human-like passive leg swing behavior. The BiMASC will enable the study of the role of both controllable compliance in running and will serve as a test platform for control strategies that utilize the leg springs and other natural dynamics of the robot. The mechanism is designed to behave in a dynamically "clean" manner, such that relatively simple mathematical mod- els will accurately predict the robot's behavior. The availability of simple and accurate mathematical models will facilitate the design of controllers, accurate simulations, and the implemen- tation of accurate model-based control on the robot. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1109/ROBOT.2007.363593 | Roma |
Keywords | Field | DocType |
compliance control,control system synthesis,legged locomotion,robot dynamics,BiMASC robot,controllable compliance,controller design,dynamic ballistic walking,dynamic running,highly dynamic biped,human-like passive leg swing behavior,mechanical leg springs,mechanically adjustable series compliance,model-based control | Design elements and principles,Controller design,Control theory,Control engineering,Engineering,Mathematical model,Robot,Swing | Conference |
Volume | Issue | ISSN |
2007 | 1 | 1050-4729 E-ISBN : 1-4244-0602-1 |
ISBN | Citations | PageRank |
1-4244-0602-1 | 31 | 2.57 |
References | Authors | |
5 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jonathan W. Hurst | 1 | 175 | 21.38 |
| Joel E. Chestnutt | 2 | 218 | 14.78 |
| Alfred A. Rizzi | 3 | 1208 | 179.03 |