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Powered Bipeds Based on Passive Dynamic Principles

Summary: Powered Bipeds Based on
Passive Dynamic Principles
S. O. Anderson, M. Wisse, C.G. Atkeson, J.K. Hodgins, G.J. Zeglin, B. Moyer
Carnegie Mellon University, Delft University of Technology, University of Pittsburgh
soa,cga,jkh,garthz@cs.cmu.edu; m.wisse@wbmt.tudelft.nl; bmoyer@pitt.edu
www.cs.cmu.edu/soa/, www.dbl.tudelft.nl
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.
Index Terms-- Passive dynamic walking, biped, compliance,
humanoid, bipedal walking.
Humans walk with a robust, natural gait that appears to


Source: Atkeson, Christopher G. - Robotics Institute, School of Computer Science, Carnegie Mellon University


Collections: Computer Technologies and Information Sciences; Engineering