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Full-Text Articles in Controls and Control Theory
Disturbance Detection, Identification, And Recovery By Gait Transition In Legged Robots, Aaron M. Johnson, Galen Clark Haynes, Daniel E. Koditschek
Disturbance Detection, Identification, And Recovery By Gait Transition In Legged Robots, Aaron M. Johnson, Galen Clark Haynes, Daniel E. Koditschek
Daniel E Koditschek
We present a framework for detecting, identifying, and recovering within stride from faults and other leg contact disturbances encountered by a walking hexapedal robot. Detection is achieved by means of a software contactevent sensor with no additional sensing hardware beyond the commercial actuators’ standard shaft encoders. A simple finite state machine identifies disturbances as due either to an expected ground contact, a missing ground contact indicating leg fault, or an unexpected “wall” contact. Recovery proceeds as necessary by means of a recently developed topological gait transition coordinator. We demonstrate the efficacy of this system by presenting preliminary data arising from …
Sprawl Angle In Simplified Models Of Vertical Climbing: Implications For Robots And Roaches, Goran A. Lynch, Lawrence Rome, Daniel E. Koditschek
Sprawl Angle In Simplified Models Of Vertical Climbing: Implications For Robots And Roaches, Goran A. Lynch, Lawrence Rome, Daniel E. Koditschek
Daniel E Koditschek
Empirical data taken from fast climbing sprawled posture animals reveals the presence of strong lateral forces with significant pendulous swaying of the mass center trajectory in a manner captured by a recently proposed dynamical template. In this simulation study we explore the potential benefits of pendulous dynamical climbing in animals and in robots by examining the stability and power advantages of variously more and less sprawled limb morphologies when driven by conventional motors in contrast with animal-like muscles. For open loop models of gait generation inspired by the neural-deprived regimes of high stride-frequency animal climbing, our results corroborate earlier hypotheses …