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.
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Notes
- 1.
Note that the motivation for this coordinate is given by Partial Zero Dynamics as considered in [3].
- 2.
References
Dynamic Robotic Dancing on AMBER 2. http://youtu.be/IwR9XvojXWo
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Kolathaya, S., Ma, WL., Ames, A.D. (2015). Composing Dynamical Systems to Realize Dynamic Robotic Dancing. In: Akin, H., Amato, N., Isler, V., van der Stappen, A. (eds) Algorithmic Foundations of Robotics XI. Springer Tracts in Advanced Robotics, vol 107. Springer, Cham. https://doi.org/10.1007/978-3-319-16595-0_25
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