Exploiting natural dynamics in the control of a three-dimensional bipedal walking simulation

被引:0
|
作者
Pratt, JE [1 ]
Pratt, GA [1 ]
机构
[1] MIT, Leg Lab, Cambridge, MA 02139 USA
来源
PROCEEDINGS OF THE 2ND INTERNATIONAL CONFERENCE ON CLIMBING AND WALKING ROBOTS, CLAWAR 99 | 1999年
关键词
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Natural dynamics can be exploited in the control of bipedal walking robots: the swing leg can swing passively; a kneecap can prevent the leg from inverting; and a compliant ankle can naturally transfer the center of pressure along the foot and help in toe off. These mechanisms simplify control and result in motion that is smooth and natural looking. We describe a computationally efficient algorithm which exploits these natural mechanisms. This algorithm is an extension to one for planar walking [16]. Lateral stability is controlled via foot placement and ankle torque. We present results for a seven link, twelve degree of freedom, biped simulation which walks on flat ground.
引用
收藏
页码:797 / 807
页数:11
相关论文
共 50 条
  • [31] Platelet Dynamics in Three-Dimensional Simulation of Whole Blood
    Vahidkhah, Koohyar
    Diamond, Scott L.
    Bagchi, Prosenjit
    BIOPHYSICAL JOURNAL, 2014, 106 (11) : 2529 - 2540
  • [32] Three-dimensional grain growth:: a vertex dynamics simulation
    Weygand, D
    Bréchet, Y
    Lépinoux, J
    Gust, W
    PHILOSOPHICAL MAGAZINE B-PHYSICS OF CONDENSED MATTER STATISTICAL MECHANICS ELECTRONIC OPTICAL AND MAGNETIC PROPERTIES, 1999, 79 (05): : 703 - 716
  • [33] Three-dimensional numerical simulation of dynamics of elastic capsules
    Bai, B.-F. (bfbai@mail.xjtu.edu.cn), 1600, Science Press (35):
  • [34] MOLECULAR DYNAMICS SIMULATION OF THREE-DIMENSIONAL HETEROGENEOUS NUCLEATION
    Suh, Donguk
    Yasuoka, Kenji
    PROCEEDINGS OF THE ASME/JSME 8TH THERMAL ENGINEERING JOINT CONFERENCE 2011, VOL 3, 2011, : 537 - 543
  • [35] Simulation of Calcium Dynamics in Realistic Three-Dimensional Domains
    Sneyd, James
    Rugis, John
    Su, Shan
    Suresh, Vinod
    Wahl, Amanda M.
    Yule, David, I
    BIOMOLECULES, 2022, 12 (10)
  • [36] Virtual Bipedal Passive Walking Control Based on Target Dynamics
    Liu, Yixuan
    Wang, Zhibo
    Pu, Lishen
    Xu, Chunquan
    2024 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, ICMA 2024, 2024, : 1409 - 1414
  • [37] Efficient bipedal walking using natural dynamics and delayed stepping reflex
    Otoda, Yuji
    IEEJ TRANSACTIONS ON ELECTRICAL AND ELECTRONIC ENGINEERING, 2008, 3 (04) : 413 - 417
  • [38] Stably extending two-dimensional bipedal walking to three dimensions
    Ames, Aaron D.
    Gregg, Robert D.
    2007 AMERICAN CONTROL CONFERENCE, VOLS 1-13, 2007, : 5658 - +
  • [39] A three-dimensional human walking model
    Yang, Q. S.
    Qin, J. W.
    Law, S. S.
    JOURNAL OF SOUND AND VIBRATION, 2015, 357 : 437 - 456
  • [40] Hybrid Lattice Boltzmann Simulation of Three-Dimensional Natural Convection
    Nee, Alexander
    JOURNAL OF COMPUTATIONAL AND THEORETICAL TRANSPORT, 2021, 50 (04) : 280 - 296