PDF-TerrainAdaptive Bipedal Locomotion Control Jiachi Wu Z

Abstract We describe a framework for the automatic synthesis of biped lo comotion controllers that adapt to uneven terrain at runtime The framework consists of two components a perfootstep endeffector path planner and a pertimestep generalizedforce. 01 01 10 20 15 10 5 02 04 06 08 y brPage 4br EE392m Winter 2003 Control Engineering 44 Example Servosystem command More stepper motor flow through a valve motor torque I control Introduce integrator into control Closedloop dynamics gk gk gk Frank van der Stappen Utrecht University Figure 1 Physicsbased simulation of locomotion for a variety of creatures driven by 3D musclebased control The synthesized controllers can locomote in real time at a range of speeds be steered to a target hea Raichlen Peter S Rodman Department of Anthropology Hunter College 728 North Building 695 Park Ave New York NY 10065 USA New York Consortium for Evolutionary Primatology New York NY USA School of Anthropology University of Arizona 1009 E South Campu . Authors : Chao SHI and . Eric . H. K. Fung. Presenter . :. Dr. . . Eric . H. K. Fung. Department of Mechanical Engineering. The Hong Kong Polytechnic University. . 1. Objective . :. Study the human-like walking of bipedal robot and analyze its stability with distributed force sensor model. . Crawling: limbs, limbless. Jumping. Burrowing. Climbing. Aquatic. Gliding. Quadrupedal. . . bipedal. Dynamic bipeds. Anatomy. Longer . hindlimbs. , longer feet. Few . presacral. vertebrae. Long tail. Gui. . Cavalcanti. 5/12/2011. Locomotion and Manipulation. Overview. Locomotion. Types of locomotion. Stability. Locomotion design. Models. Types of control. Gaits. Manipulation. Compliance. Forward . . motion planning. J. . Pettré. , J.P. Laumond,. A motion capture . based. . control-space. . approach. for . walking. mannequins. Computer Animation and Virtual . Worlds. , Vol. 16, 2006.. C. . It is therefore probable that Africa was formerly inhabited by extinct apes closely allied to the gorilla and chimpanzee: and as these two species are now man’s nearest allies, it is somewhat more probable that our early progenitors lived on the African continent than elsewhere.. Taxonomy. Each taxon tells us more about that group’s . adaptations. . Makes important biological statements about genetic & evolutionary relationships. Adaptive Radiation. The evolution & spreading out of related species into new environmental niches. Benjamin Stephens. Robotics Institute. Compliant Balance and Push Recovery. Full body compliant control. Robustness to large disturbances. Perform useful tasks in human environments. Motivation. Improve the performance and usefulness of complex robots, simplifying controller design by focusing on simpler models that capture important features of the desired behavior. is a skeletal complex in the body wall immediately behind the head that articulates with the anterior fins or limbs.. This is a picture of the ray-finned fish . Polypterus. , which exemplifies the basic pattern of all pectoral girdles.. based. robot. Laura Balthazard. Semester. . project. Final . presentation. State of the project. First remote. Second remote. 2. Project. Making the previous remote working. Being able to control the locomotion of the . Human skeletal changes due to . bipedalism. Bipedalism. occurred approximately 4 . mya. .. This has led to . morphological. alterations to the . human skeleton. including changes to the arrangement and size of the bones of the foot, . Pieter Abbeel. Stanford University. (Variation hereof) presented at Cornell/USC/UCSD/Michigan/UNC/Duke/UCLA/UW/EPFL/Berkeley/CMU. Winter/Spring 2008. In collaboration with: Andrew Y. Ng, Adam Coates, J. Zico Kolter, Morgan Quigley, Dmitri .