Bio-inspired vertebral column, compliance and semi-passive dynamics in a lightweight humanoid robot | IEEE Conference Publication | IEEE Xplore

Bio-inspired vertebral column, compliance and semi-passive dynamics in a lightweight humanoid robot


Abstract:

This paper presents the humanoid robot Acroban. We study two main issues: 1) Compliance and semi-passive dynamics for locomotion of humanoid robots regarding robustness a...Show More

Abstract:

This paper presents the humanoid robot Acroban. We study two main issues: 1) Compliance and semi-passive dynamics for locomotion of humanoid robots regarding robustness against unknown external perturbations; 2) The advantages of a bio-inspired multi-articulated vertebral column. We combine mechatronic compliance with structural compliance due to the use of flexible materials. And we explore how these capabilities allow to enforce morphological computation in the design of robust dynamic locomotion. We also investigate the use of compliance to design semi-passive motor primitives using the torso and the arms as a system of accumulation/release of potential/kinetic energy.
Date of Conference: 25-30 September 2011
Date Added to IEEE Xplore: 05 December 2011
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Conference Location: San Francisco, CA, USA

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