Massachusetts Institute of Technology
Sign in

Dynamic Walking 2010. Jessy Grizzle. Feedback Control of the Bipedal Robot MABEL

MABEL is a bipedal testbed at the University of Michigan that was constructed in collaboration with Jonathan Hurst. The robot is planar, with a torso, two legs with revolute knees, and four actuators. Two of its actuators are in series with large springs for the purpose of enhancing both energy efficiency and agility of locomotion. The actuators are housed in the torso and the legs are light, placing the center of mass of the robot significantly above the hips. The presentation will focus on the development of a time-invariant feedback controller that respects the natural compliance of the open-loop system and realizes exponentially stable walking gaits. Experiments are presented that highlight different aspects of MABEL and the feedback design method, ranging from basic elements such as stable walking, to energy efficiency, fast walking, and walking over uneven terrain.

Comments (0)

It looks like no one has posted a comment yet. You can be the first!

You need to log in, in order to post comments.

Dynamic Walking 2010

Dynamic Walking 2010

Category: Education | Updated over 7 years ago

Created
August 03, 2010 01:13
Category
License
All Rights Reserved (What is this?)
Additional Files


Viewed
8642 times

More from Dynamic Walking 2010

Dynamic Walking 2010. Manoj Srinivasan. Observations on the Structure of Optimal Gaits on Various Simple Bipedal Models

Dynamic Walking 2010. Manoj Sriniva...

Added over 7 years ago | 00:29:36 | 5309 views

Dynamic Walking 2010. Robert Gregg. Control and Planning with Asymptotically Stable Gait Primitives: 3D Dynamic Walking to Locomotor Rehabilitation.

Dynamic Walking 2010. Robert Gregg....

Added over 7 years ago | 00:33:35 | 7030 views

Dynamic Walking 2010. Russ Tedrake. Feedback Motion Planning via Sums-of-Squares Verification

Dynamic Walking 2010. Russ Tedrake....

Added over 7 years ago | 00:46:46 | 7501 views

Dynamic Walking 2010. Waleed Farahat. Optimal Workloop Energetics of Muscle-Actuated Systems: An Impedance Matching View

Dynamic Walking 2010. Waleed Faraha...

Added over 7 years ago | 00:41:49 | 4618 views

Dynamic Walking 2010. Aaron Ames. First steps toward closing the loop on walking: from human walking to hybrid systems to robotic walking and back

Dynamic Walking 2010. Aaron Ames. F...

Added over 7 years ago | 00:48:59 | 6192 views

Dynamic Walking 2010. Madhusudhan Venkadesan. Role of endurance running in human evolution, and how we ran without cushioned shoes

Dynamic Walking 2010. Madhusudhan V...

Added over 7 years ago | 00:35:29 | 5722 views