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

被引：0
|
作者：
Ly, Olivier [1 ]
Lapeyre, Matthieu [2 ]
Oudeyer, Pierre-Yves [2 ]
机构：
[1] Univ Bordeaux 1, INRIA LaBRI, F-33405 Talence, France
[2] INRIA Bordeaux, FLOWERS, Bordeaux, France
来源：
2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2011年
关键词：
Lightweight Humanoid Robot; Morphological Computation; Semi-Passive Dynamic Walking; Compliance; Vertebral Column; Spine; CPG; BIPEDAL WALKING; MORPHOLOGY; SPINE; LEG;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
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.
引用
收藏
页码：1465 / 1472
页数：8
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