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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 HarveyOne 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.
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Publication status
- Published
Publisher
Springer-VerlagPages
10.0Presentation Type
- paper
Event name
Proceedings of CLAWAR 2004, 7th International Conference on Climbing and Walking RobotsEvent location
Madrid, SpainEvent type
conferenceISBN
3-540-22992-2Department affiliated with
- Informatics Publications
Full text available
- No
Peer reviewed?
- Yes
Legacy Posted Date
2012-02-06Usage metrics
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