Massachusetts Institute of Technology
Sign in

Dynamic Walking 2010. Tomomichi Sugihara. Dynamics Morphing Toward Globally Stable Bipedalism

Beyond simple walking, bipedalism implies more generally a capability of manipulation with the feet (pedipulation), through discontinuous deformation of the standing region and continuous manipulation of the reaction forces within the standing region. In this talk, I will present "Dynamics Morphing", a control design paradigm which enables seamless transitions between regulatory and oscillatory behaviors. This paradigm can be used to design globally stable controllers by shaping the system dynamics, while considering both continuous and discontinuous dynamics. I will present various non-time-slaved bipedal motions generated by this approach in a computer simulation.

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 05, 2010 18:49
Category
License
All Rights Reserved (What is this?)
Additional Files


Viewed
5581 times

More from Dynamic Walking 2010

Dynamic Walking 2010. Jerry Pratt. Humanoid Disturbance Recovery with Limited Available Footholds

Dynamic Walking 2010. Jerry Pratt. ...

Added over 7 years ago | 00:33:23 | 4739 views

Dynamic Walking 2010. Richard Marsh. Coordinated action of muscle-tendon systems in the avian hindlimb during walking, running, and jumping

Dynamic Walking 2010. Richard Marsh...

Added over 7 years ago | 00:39:45 | 6485 views

Dynamic Walking 2010. Andy Ruina. Cats, astronauts, trucks, bikes, arrows, and muscle-smarts: Stability, translation, and rotation

Dynamic Walking 2010. Andy Ruina. C...

Added over 7 years ago | 00:49:47 | 6007 views

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

Dynamic Walking 2010. Jessy Grizzle...

Added over 7 years ago | 00:56:13 | 8644 views

Dynamic Walking 2010. Greg Sawicki. Mechanics and control of a compliant muscle-tendon during cyclic contractions

Dynamic Walking 2010. Greg Sawicki....

Added over 7 years ago | 00:30:00 | 4549 views

Dynamic Walking 2010. Stefano Stramigioli. Port-Based Robotics and Variable Impedance Actuators

Dynamic Walking 2010. Stefano Stram...

Added over 7 years ago | 00:28:58 | 4672 views