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Departmental Papers (ESE)

Locomotion

Publication Year

Articles 1 - 2 of 2

Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering

Modular Hopping And Running Via Parallel Composition, Avik De Nov 2017

Modular Hopping And Running Via Parallel Composition, Avik De

Departmental Papers (ESE)

Though multi-functional robot hardware has been created, the complexity in its functionality has been constrained by a lack of algorithms that appropriately manage flexible and autonomous reconfiguration of interconnections to physical and behavioral components.

Raibert pioneered a paradigm for the synthesis of planar hopping using a composition of ``parts'': controlled vertical hopping, controlled forward speed, and controlled body attitude. Such reduced degree-of-freedom compositions also seem to appear in running animals across several orders of magnitude of scale. Dynamical systems theory can offer a formal representation of such reductions in terms of ``anchored templates,'' respecting which Raibert's empirical synthesis (and ...


A Brachiating Robot Controller, Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek Apr 2000

A Brachiating Robot Controller, Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek

Departmental Papers (ESE)

We report on our empirical studies of a new controller for a two-link brachiating robot. Motivated by the pendulum-like motion of an ape's brachiation, we encode this task as the output of a "target dynamical system." Numerical simulations indicate that the resulting controller solves a number of brachiation problems that we term the "ladder," "swing-up," and "rope" problems. Preliminary analysis provides some explanation for this success. The proposed controller is implemented on a physical system in our laboratory. The robot achieves behaviors including "swing locomotion" and "swing up" and is capable of continuous locomotion over several rungs of a ...