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The majority of commercially available passive prosthetic feet are not capable of providing joint mechanics that match that of the intact human ankle. Due to their cantilever design, their stiffness characteristics contrast with what has been observed in the biological ankle, namely, an increase in stiffness during the stance phase of walking. In this paper, we introduce the design and control of...
Common design principles for low cost humanoid robots include a low center of mass height and a large support area for increased static stability. However, such principles limit the bipedal mobility of the robot due to the kinematic constraints involved. In this paper, we present an efficient locomotion controller that utilizes automatically calculated heel and toe lift motions to overcome the kinematic...
When a humanoid robot traverses uneven terrain, such as stairs, possible footstep positions are constrained and the robot must take large strides. For robots with relatively short leg lengths, making such big strides is kinematically challenging. Possible solutions include lowering the torso height, relying on fast and dynamic stepping, and reducing foot size. However, all of these methods negatively...
Zero moment point (ZMP) preview controller is a widely adopted method for bipedal locomotion. However, for robots which are resource constrained or working in dynamic environments, simple reactive walk controllers are still favored as ZMP preview controllers have more control latency and are computationally more demanding. In this work, we present a hybrid walk controller that dynamically switches...
Bipedal walking in human environments is made difficult by the unevenness of the terrain and by external disturbances. Most approaches to bipedal walking in such environments either rely upon a precise model of the surface or special hardware designed for uneven terrain. In this paper, we present an alternative approach to stabilize the walking of an inexpensive, commercially-available, position-controlled...
Dynamic bipedal walking is susceptible to external disturbances and surface irregularities, requiring robust feedback control to remain stable. In this work, we present a practical hierarchical push recovery strategy that can be readily implemented on a wide range of humanoid robots. Our method consists of low level controllers that perform simple, biomechanically motivated push recovery actions and...
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