Added over 5 years ago | 00:27:34 | 4786 views
Beyond simple walking, bipedalism implies more generally a capability of manipulation with the feet (pedipulation), through discontinuous deformation of the standing region and continuous manipulation of the reaction forces within ...
Added over 5 years ago | 00:28:58 | 4039 views
In this talk a framework based on energetical reasoning for modeling and control purposes based on port-Hamiltonian theory will be briefly presented. Then this methodology will be used to analyse novel concepts of actuations called Varia...
Added over 5 years ago | 00:33:23 | 4207 views
We present a method for controlling humanoid robots to recover from disturbances when available footholds are limited. This method involves determining the robot's Capture Region taking into consideration the available footholds, decidin...
Added over 5 years ago | 00:31:35 | 8338 views
Mobile robot designers are increasingly searching for inspirations and design cues from biological models. Biomechanics research of animals provides an invaluable source of ideas for legged robot design but the process of implementation ...
Added over 5 years ago | 00:47:15 | 4958 views
Cybernetic human HRP-4C is a humanoid robot whose body dimensions were designed to match the average Japanese young female. I will explain the current status of HRP-4C and lessons we learned from the project.
Added over 5 years ago | 00:35:29 | 5060 views
Humans are mediocre sprinters at best. The top speed of Usain Bolt can be matched by a domestic cat. But when it comes to endurance running over many kilometers and long durations of time, very few animals measure up to humans. We presen...
Added over 5 years ago | 00:28:57 | 4807 views
Leg function can be adapted to different gaits and environmental conditions. Here we investigate, to what extent the structure of the segmented leg and the upright posture of the trunk affects the dynamics and stability of legged locomot...
Added over 5 years ago | 00:39:45 | 5733 views
The extreme variation in hindlimb morphology that has occurred in the evolution of birds adapted to varying types of locomotion provides the opportunity to examine those features of muscle and limb architecture that appear to be associat...
Added over 5 years ago | 00:28:59 | 4375 views
Our research aims at the creation of fast and efficient running motions of four legged robotic systems. We design our robots to explicitly enable and exploit natural dynamic effects (such as the oscillation on springy legs) in their mech...
Added over 5 years ago | 00:29:36 | 4739 views
It is thought that many aspects of steady human locomotion under normal conditions can be predicted by appealing to the hypothesis that healthy humans roughly move in a manner that minimizes the metabolic cost of locomotion. While energy...
Added over 5 years ago | 00:29:45 | 4266 views
Floquet theory describes the linearization of an oscillator around its orbit. We convert this familiar classical result to an empirical form, allowing Floquet models to be constructed directly from experimentally obtained trajectories of...
Added over 5 years ago | 00:25:08 | 7555 views
This talk will present a method for computing estimates of regions of attraction to limit cycles of quite a general class of nonlinear hybrid systems. Such limit cycles typically represent the "nominal" motion of a walking robot, with al...
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