Biped Locomotion
Dynamic approaches to the control of biped locomotion
The goal of this effort is to develop a control approach for bipedal locomotion utilizing dynamic walking principles. The proposed controller is tailored to exploit the dynamics of the biped robot and to provide, cyclic interaction of the legs with the environment. While exploitation of the natural dynamics results in energy efficiency, as expected, the cyclic interaction between the body and the environment is proven to contribute to an overall stability and robustness of the walking cycle. The controller has been tested on computer simulation. It has been implemented and experimentally demonstrated on a 7 link planar biped robot.
In order to design and validate the gait controller, a custom simulation environment was developed under the same project. This tool was important to predict the controlled motion of the biped.
Media
Publications
- D. J. Braun, J. E. Mitchell, M. Goldfarb, Actuated Dynamic Walking in a Seven-link Biped Robot, IEEE Transactions on Mechatronics, vol.
17, no. 1, pp. 147-156, 2012.
- D. J. Braun, M. Goldfarb, A Control Approach for Actuated Dynamics Walking in Biped Robots, IEEE Transactions on Robotics, vol. 25, no.
6, pp. 1292-1303, 2009.
- D. J. Braun, J. E. Mitchell, M. Goldfarb, Actuated Dynamic Walking in Biped Robots: Control Approach, Robot Design and Experimental Validation, 9th IEEE-RAS Conference on Humanoid Robots, pp. 237-242, Dec. 7-10, Paris, France, 2009.
- D. J. Braun, M. Goldfarb, A Controller for Dynamic Walking in Bipedal Robots, IEEE-RSJ International Conference on Intelligent Robots and Systems, pp. 2916-2921, Oct. 11-15, St. Louis, MO, USA, 2009.