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The tango of a load balancing biped

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posted on 2023-06-08, 07:21 authored by Eric D Vaughan, Ezequiel Di Paolo, Inman HarveyInman Harvey
One of the most popular approaches to developing bipedal walking machines has been to record the human gait and use it as a template for a walking algorithm. In this paper we demonstrate a different approach based on passive dynamics, neural networks, and genetic algorithms. A bipedal machine is evolved in simulation that when pushed walks either forward or backwards just enough to release the pressure placed on it. Just as a tango dancer uses a dance frame to control the movements of their follower, external forces are a subtle way to control the machines speed. When the machine is subjected to noise in its body¿s size, weight, or actuators as well as external forces it demonstrates the ability to dynamically adapt its gait through feedback loops between its actuators and sensors.

History

Publication status

  • Published

Publisher

Springer-Verlag

Pages

10.0

Presentation Type

  • paper

Event name

Proceedings of CLAWAR 2004, 7th International Conference on Climbing and Walking Robots

Event location

Madrid, Spain

Event type

conference

ISBN

3-540-22992-2

Department affiliated with

  • Informatics Publications

Full text available

  • No

Peer reviewed?

  • Yes

Legacy Posted Date

2012-02-06

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