Passive Dynamic Balancing and Walking in Actuated Environments
Abstract
The control of passive dynamic systems remains a challenging problem in the field of robotics, and insights from their study can inform everything from dynamic behaviors on actuated robots to robotic assistive devices. In this work, we explore the use of flat actuated environments for realizing passive dynamic balancing and locomotion. Specifically, we utilize a novel omnidirectional actuated floor to dynamically stabilize two robotic systems. We begin with an inverted pendulum to demonstrate the ability to control a passive system through an active environment. We then consider a passive bipedal robot wherein dynamically stable periodic walking gaits are generated through an optimization that leverages the actuated floor. The end result is the ability to demonstrate passive dynamic walking experimentally through the use of actuated environments.
Additional Information
© 2020 IEEE. Reher, Csomay-Shanklin - These authors contributed equally to this work, and were employees of Disney Research during the time of this project. The authors would like to thank Elizabeth Alderman for her previous work on the actuated floor and the members of Disney Research for their helpful discussions and support.Additional details
- Eprint ID
- 105533
- DOI
- 10.1109/icra40945.2020.9197400
- Resolver ID
- CaltechAUTHORS:20200924-160023015
- Created
-
2020-09-24Created from EPrint's datestamp field
- Updated
-
2021-11-16Created from EPrint's last_modified field