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The evolution of control and adaptation in a 3D powered passive dynamic walker
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posted on 2023-06-08, 04:48 authored by Eric D Vaughan, Ezequiel Di Paolo, Inman HarveyInman HarveyHumans demonstrate speed, efficiency, and adaptability when traveling over rugged terrain. Bipedal robots modeled on biological designs could replace or assist people working in difficult environments. However, current research into humanoid robots has not produced practical machines. This paper explores the use of evolutionary robotics to evolve a simulation of a ten-degree of freedom bipedal robot. This machine demonstrates many of the properties of human locomotion. By using passive dynamics and compliant tendons it conserves energy while walking on a flat surface. Its speed and gait can be dynamically adjusted and it is capable of adapting to discrepancies in both its environment and its bodies¿ construction.
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Publication status
- Published
Publisher
MIT PressPages
7.0Presentation Type
- paper
Event name
Proceedings of the Ninth International Conference on the Simulation and Synthesis of Living Systems, ALIFE'9Event location
Boston, MA, USAEvent type
conferenceISBN
0-262-66183-7Department affiliated with
- Informatics Publications
Full text available
- No
Peer reviewed?
- Yes
Legacy Posted Date
2012-02-06Usage metrics
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