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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 Harvey
Humans 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.

History

Publication status

  • Published

Publisher

MIT Press

Pages

7.0

Presentation Type

  • paper

Event name

Proceedings of the Ninth International Conference on the Simulation and Synthesis of Living Systems, ALIFE'9

Event location

Boston, MA, USA

Event type

conference

ISBN

0-262-66183-7

Department affiliated with

  • Informatics Publications

Full text available

  • No

Peer reviewed?

  • Yes

Legacy Posted Date

2012-02-06

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