Modeling Framework and Software Tools for Walking Robots


Duindam, Vincent and Stramigioli, Stefano and Groen, Frank (2005) Modeling Framework and Software Tools for Walking Robots. In: 24th Benelux Meeting on Systems and Control, 22-24 March 2005, Houffalize, Belgium (pp. p. 25).

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Abstract:In research on passive dynamic walking, the aim is to study and design robots that walk naturally, i.e., with little or no control effort. McGeer [1] and others (e.g. [2, 3]) have shown that, indeed, robots can walk down a shallow slope with no actuation, only powered by gravity.
In this work, we derive mathematical models of walking ro- bots to better understand the dynamics that determine the walking behavior, and to design controllers that e.g. in- crease robustness against changing environments. We use the port-Hamiltonian framework, as it has the advantage of explicitly showing energy-flows inside and into the system. Thus, it allows a direct efficiency study as well as the possi- bility to connect external elements in a ‘physical’ way using ports, instead of using just torque/force signals.
Item Type:Conference or Workshop Item
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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