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Composing Dynamical Systems to Realize Dynamic Robotic Dancing

Kolathaya, Shishir and Ma, Wen-Loong and Ames, Aaron D. (2015) Composing Dynamical Systems to Realize Dynamic Robotic Dancing. In: Algorithmic Foundations of Robotics XI: Selected Contributions of the Eleventh International Workshop on the Algorithmic Foundations of Robotics. Springer Tracts in Advanced Robotics. No.107. Springer , Cham, pp. 425-442. ISBN 978-3-319-16594-3. https://resolver.caltech.edu/CaltechAUTHORS:20191118-104601288

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Abstract

This paper presents a methodology for the composition of complex dynamic behaviors in legged robots, and illustrates these concepts to experimentally achieve robotic dancing . Inspired by principles from dynamic locomotion, we begin by constructing controllers that drive a collection of virtual constraints to zero; this creates a low-dimensional representation of the bipedal robot. Given any two poses of the robot, we utilize this low-dimensional representation to connect these poses through a dynamic transition. The end result is a meta-dynamical system that describes a series of poses (indexed by the vertices of a graph) together with dynamic transitions (indexed by the edges) connecting these poses. These formalisms are illustrated in the case of dynamic dancing; a collection of ten poses are connected through dynamic transitions obtained via virtual constraints, and transitions through the graph are synchronized with music tempo. The resulting meta-dynamical system is realized experimentally on the bipedal robot AMBER 2 yielding dynamic robotic dancing.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1007/978-3-319-16595-0_25DOIArticle
ORCID:
AuthorORCID
Kolathaya, Shishir0000-0001-8689-2318
Ma, Wen-Loong0000-0002-0115-5632
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2015 Springer International Publishing Switzerland. First Online: 30 April 2015.
Subject Keywords:Joint Angle; Dynamic Transition; Bipedal Robot; Double Support; Single Support
Series Name:Springer Tracts in Advanced Robotics
Issue or Number:107
Record Number:CaltechAUTHORS:20191118-104601288
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20191118-104601288
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:99899
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:18 Nov 2019 19:05
Last Modified:18 Nov 2019 19:05

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