Exploiting Natural Dynamics in the Control of a Planar Bipedal Walking Robot

摘要: Natural dynamics can be exploited in the control of bipedal walking robots: swing leg freely once started; a kneecap used to prevent from inverting; and compliant ankle naturally transfer center pressure along foot help toe off. Each these mechanisms helps make easier achieve results motion that is smooth natural looking. We describe simple algorithm using which requires very little computation. The necessary sensing consists joint angles velocities, body pitch angular velocity, ground reaction forces. Using this algorithm, we have controlled seven link planar robot, called Spring Flamingo, walk. Video, photographs, more information on Flamingo found at http://www.leglab.ai.mit.edu