Toward a human-like biped robot with compliant legs |
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| Authors: | Fumiya Iida Yohei Minekawa Jürgen Rummel André Seyfarth |
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| Affiliation: | 1. Locomotion Laboratory, Institute of Sport Science, University of Jena, Germany;2. Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, USA;3. Artificial Intelligence Laboratory, Department of Informatics, University of Zurich, Switzerland;1. Research Institute of Mechatronic Control and Automation Technology, Harbin University of Science and Technology, Harbin 150080, China;2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China;1. Institut de Recherches en Communications et Cybernétique de Nantes (IRCCyN), UMR CNRS 6597, 1 rue de la Noë, 44321 Nantes, France;2. École Centrale de Nantes, 1 rue de la Noë, 44321 Nantes, France;3. Institut Pascal (UMR 6602) – Sigma Clermont – Campus des Cézeaux, 27 Rue Roche Genès, 63178 Aubière, France |
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| Abstract: | Conventional models of bipedal walking generally assume rigid body structures, while elastic material properties seem to play an essential role in nature. On the basis of a novel theoretical model of bipedal walking, this paper investigates a model of biped robot which makes use of minimum control and elastic passive joints inspired from the structures of biological systems. The model is evaluated in simulation and a physical robotic platform by analyzing the kinematics and ground reaction force. The experimental results show that, with a proper leg design of passive dynamics and elasticity, an attractor state of human-like walking gait patterns can be achieved through extremely simple control without sensory feedback. The detailed analysis also explains how the dynamic human-like gait can contribute to adaptive biped walking. |
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