Design and Philosophy of the BiMASC, a Highly Dynamic Biped
作者： Jonathan W Hurst , Joel E Chestnutt , Alfred A Rizzi , None
DOI: 10.1109/ROBOT.2007.363593
关键词:
摘要: This paper discusses the design principles and philosophy of BiMASC, a biped with mechanically adjustable series compliance which incorporates tuned mechanical leg springs. robot will be capable dynamic running using springs, as well ballistic walking human-like passive swing behavior. The BiMASC enable study role both controllable in serve test platform for control strategies that utilize springs other natural dynamics robot. mechanism is designed to behave dynamically "clean" manner, such relatively simple mathematical models accurately predict robot's availability accurate facilitate controllers, simulations, implementation model-based on
sci-hub.se 参考文章(29)
Jonathan W. Hurst, Alfred A. Rizzi, Physically Variable Compliance in Running Springer, Berlin, Heidelberg. pp. 123- 133 ,(2005) , 10.1007/3-540-29461-9_10
Gill A. Pratt, Jerry E. Pratt, Exploiting Natural Dynamics in the Control of a Planar Bipedal Walking Robot ,(1998)
G. A. Cavagna, N. C. Heglund, C. R. Taylor, Mechanical work in terrestrial locomotion: two basic mechanisms for minimizing energy expenditure American Journal of Physiology-regulatory Integrative and Comparative Physiology. ,vol. 233, pp. 243- 261 ,(1977) , 10.1152/AJPREGU.1977.233.5.R243
G A Cavagna, Elastic bounce of the body. Journal of Applied Physiology. ,vol. 29, pp. 279- 282 ,(1970) , 10.1152/JAPPL.1970.29.3.279
M. Ahmadi, M. Buehler, The ARL monopod II running robot: control and energetics international conference on robotics and automation. ,vol. 3, pp. 1689- 1694 ,(1999) , 10.1109/ROBOT.1999.770352
Bram Vanderborght, Björn Verrelst, Ronald Van Ham, Michaël Van Damme, Dirk Lefeber, Bruno Meira Y Duran, Pieter Beyl, Exploiting Natural Dynamics to Reduce Energy Consumption by Controlling the Compliance of Soft Actuators The International Journal of Robotics Research. ,vol. 25, pp. 343- 358 ,(2006) , 10.1177/0278364906064566
John R. Hutchinson, Dan Famini, Richard Lair, Rodger Kram, Are fast-moving elephants really running? Nature. ,vol. 422, pp. 493- 494 ,(2003) , 10.1038/422493A
R. Blickhan, R.J. Full, Similarity in multilegged locomotion: Bouncing like a monopode Journal of Comparative Physiology A-neuroethology Sensory Neural and Behavioral Physiology. ,vol. 173, pp. 509- 517 ,(1993) , 10.1007/BF00197760
T.A. McMahon, Mechanics of Locomotion The International Journal of Robotics Research. ,vol. 3, pp. 4- 28 ,(1984) , 10.1177/027836498400300202
Christine Chevallereau, Gabriel Abba, Yannick Aoustin, Franck Plestan, Eric Westervelt, Carlos Canudas De Wit, Jessy Grizzle, RABBIT: a testbed for advanced control theory IEEE Control Systems Magazine. ,vol. 23, pp. 57- 79 ,(2003) , 10.1109/MCS.2003.1234651