Analytically-Guided Design of a Tailed Bipedal Hopping Robot

Abdulaziz Shamsah; Avik De; Daniel E. Koditschek

IROS 2018poster7 citations

Analytically-Guided Design of a Tailed Bipedal Hopping Robot

Abdulaziz Shamsah, Avik De, Daniel E. Koditschek

Abstract

We present the first fully spatial hopping gait of a 12 DoF tailed biped driven by only 4 actuators. The control of this physical machine is built up from parallel compositions of controllers for progressively higher DoF extensions of a simple 2 DoF, 1 actuator template. These template dynamics are still not themselves integrable, but a new hybrid averaging analysis yields a conjectured closed form representation of the approximate hopping limit cycle as a function of its physical and control parameters. The resulting insight into the role of the machines kinematic and dynamical design choices affords a redesign leading to the newly achieved behavior.

BibTeX

@inproceedings{iros2018_analyticallyguid,
  title = {Analytically-Guided Design of a Tailed Bipedal Hopping Robot},
  author = {Abdulaziz Shamsah and Avik De and Daniel E. Koditschek},
  booktitle = {IROS 2018},
  year = {2018}
}