详情

原文传递 Dynamic Legged Locomotion in Robots and Animals.

题名：	Dynamic Legged Locomotion in Robots and Animals.
作者：	Leeser, Karl;Bailey, Dave;Ringrose, Robert;Playter, Robert;Raibert, Marc;
关键词：	ROBOTS, GROUND VEHICLES, ANIMALS, LOCOMOTION, COMPUTER PROGRAMS, COMPUTERIZED SIMULATION, CONTROL SYSTEMS, DYNAMICS, PARAMETERS, WALKING, RATES, PASSIVE SYSTEMS, CURVATURE, SCALE, LENGTH, SHIFTING, WEIGHT, INFLIGHT, TUNING, MANEUVERS, ROTATION, AUTOMATIC, BIOMECHANICS, LEGS, BLATTIDAE, LANDING, ATTITUDE(INCLINATION).
摘要：	This report documents our study of active legged systems that balance actively and move dynamically. The purpose of this research is to build a foundation of knowledge that can lead both to the construction of useful legged vehicles and to a better understanding of how animal locomotion works. In this report we provide an update on progress during the past year. Here are the topics covered in this report: * Is Cockroach Locomotion Dynamic? -To address this question we created three models of cockroaches, each abstracted at a different level. We provided each model with a control system and computer simulation. One set of results suggests that "Groucho Running," a type of dynamic walking, seems feasible at cockroach scale. * How Do Bipeds Shift Weight Between the Legs? - We built a simple planar biped robot specifically to explore this question. It shifts its weight from one curved foot to the other, using a toe-off and toe-on strategy, in conjunction with dynamic tipping. * 3D Biped Gymnastics -The 3D biped robot has done front somersaults in the laboratory. The robot changes its leg length in flight to control rotation rate. This in turn provides a mechanism for controlling the landing attitude of the robot once airborne. * Passively Stabilized Layout Somersault-We have found that the passive structure of a gymnast, the configuration of masses and compliances, can stabilize inherently unstable maneuvers. This means that body biomechanics could play a larger role in controlling behavior than is generally thought. We used a physical "doll" model and computer simulation to illustrate the point. * Twisting-Some gymnastic maneuvers require twisting. We are studying how to couple the biomechanics of the system to its control to produce efficient, stable twisting maneuvers.
总页数：	123
报告类型：	科技报告