The tango of a load balancing biped

Vaughan, Eric D, Di Paolo, Ezequiel and Harvey, Inman R (2004) The tango of a load balancing biped. In: Proceedings of CLAWAR 2004, 7th International Conference on Climbing and Walking Robots, Madrid, Spain.

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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.

Item Type: Conference or Workshop Item (Paper)
Schools and Departments: School of Engineering and Informatics > Informatics
Depositing User: Ezequiel Alejandro Di Paolo
Date Deposited: 06 Feb 2012 20:41
Last Modified: 12 Apr 2012 12:51
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