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Passive Dynamic Balancing and Walking in Actuated Environments

Reher, Jenna and Csomay-Shanklin, Noel and Christensen, David L. and Bristow, Bobby and Ames, Aaron D. and Smoot, Lanny (2020) Passive Dynamic Balancing and Walking in Actuated Environments. In: 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 9775-9781. ISBN 9781728173955. https://resolver.caltech.edu/CaltechAUTHORS:20200924-160023015

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Abstract

The control of passive dynamic systems remains a challenging problem in the field of robotics, and insights from their study can inform everything from dynamic behaviors on actuated robots to robotic assistive devices. In this work, we explore the use of flat actuated environments for realizing passive dynamic balancing and locomotion. Specifically, we utilize a novel omnidirectional actuated floor to dynamically stabilize two robotic systems. We begin with an inverted pendulum to demonstrate the ability to control a passive system through an active environment. We then consider a passive bipedal robot wherein dynamically stable periodic walking gaits are generated through an optimization that leverages the actuated floor. The end result is the ability to demonstrate passive dynamic walking experimentally through the use of actuated environments.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/icra40945.2020.9197400DOIArticle
ORCID:
AuthorORCID
Reher, Jenna0000-0002-8297-3847
Csomay-Shanklin, Noel0000-0002-2361-1694
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2020 IEEE. Reher, Csomay-Shanklin - These authors contributed equally to this work, and were employees of Disney Research during the time of this project. The authors would like to thank Elizabeth Alderman for her previous work on the actuated floor and the members of Disney Research for their helpful discussions and support.
Record Number:CaltechAUTHORS:20200924-160023015
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20200924-160023015
Official Citation:J. Reher, N. Csomay-Shanklin, D. L. Christensen, B. Bristow, A. D. Ames and L. Smoot, "Passive Dynamic Balancing and Walking in Actuated Environments," 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020, pp. 9775-9781, doi: 10.1109/ICRA40945.2020.9197400
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:105533
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:24 Sep 2020 23:14
Last Modified:24 Sep 2020 23:14

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