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This paper develops a comparative framework for the design of actuated inertial appendages for planar aerial reorientation. We define the inertial reorientation template, the simplest model of this behavior, and leverage its linear dynamics to reveal the design constraints linking a task with the body designs capable of completing it. As practicable inertial appendage designs lead to morphology that...
This paper explores the design space of simple legged robots capable of leaping culminating in new behaviors for the Penn Jerboa, an underactuated, dynamically dexterous robot. Using a combination of formal reasoning and physical intuition, we analyze and test successively more capable leaping behaviors through successively more complicated body mechanics. The final version of this machine studied...
As dynamic robot behaviors become more capable and well understood, the need arises for a wide variety of equally capable and systematically applicable transitions between them. We use a hybrid systems framework to characterize the dynamic transitions of a planar “legged” rigid body from rest on level ground to a fully aerial state. The various contact conditions fit together to form a topologically...
This paper introduces self-manipulation as a new formal design methodology for legged robots with varying ground interactions. The term denotes a set of modeling choices that permit a uniform and body-centric representation of the equations of motion—essentially a guide to the selection and configuration of coordinate frames. We present the hybrid system kinematics, dynamics, and transitions in the...
On challenging, uneven terrain a legged robot's open loop posture will almost inevitably be inefficient, due to uncoordinated support of gravitational loads with coupled internal torques. By reasoning about certain structural properties governing the infinitesimal kinematics of the closed chains arising from a typical stance, we have developed a computationally trivial self-manipulation behavior that...
This paper documents near-autonomous negotiation of synthetic and natural climbing terrain by a rugged legged robot, achieved through sequential composition of appropriate perceptually triggered locomotion primitives. The first, simple composition achieves autonomous uphill climbs in unstructured outdoor terrain while avoiding surrounding obstacles such as trees and bushes. The second, slightly more...
We present a framework for detecting, identifying, and recovering within stride from faults and other leg contact disturbances encountered by a walking hexapedal robot. Detection is achieved by means of a software contact-event sensor with no additional sensing hardware beyond the commercial actuators' standard shaft encoders. A simple finite state machine identifies disturbances as due either to...
This video highlights work to date on the Yobotics-IHMC lower body humanoid robot. The robot is a twelve degree-of-freedom robot with force controllable series elastic actuators at each degree of freedom. Control algorithms utilize virtual model control, and foot placement is determined using capture regions. The robot can recover from moderate disturbances and walk on flat ground. Ongoing work is...
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