Added over 5 years ago | 00:48:59 | 5498 views
This talk discusses the first steps toward closing the loop on walking: generating mathematical models for human walking, developing control laws that yield walking for 3D bipeds using these formal models, and comparing the resulting rob...
Added over 5 years ago | 00:41:49 | 3886 views
Integrative approaches to studying the coupled dynamics of skeletal muscles with their loads while under neural control have focused largely on questions pertaining to the postural and dynamical stability of animals and humans. Prior stu...
Added over 5 years ago | 00:22:57 | 4549 views
Birds are a diverse group of bipedal animals that span a range of body size, morphology and habitat use. This diversity can be exploited to reveal relationships between morphology, economy and stability of locomotion, providing a complem...
Added over 5 years ago | 00:44:10 | 3151 views
It is now well established that the elastic function of tendons has a profound influence on the mechanics, energetics, and control of locomotion. A model of a simple Hookean spring in series with a muscle actuator reveals mechanisms that...
Added over 5 years ago | 00:30:00 | 3805 views
Compliant mechanical behavior of the lower-limb can capture the basic dynamics of stable walking and running across a range of speeds, but the neuromechanical mechanisms responsible for robust, spring-like limb dynamics are not entirely ...
Added over 5 years ago | 00:33:38 | 3175 views
Optimal control has a lot of potential, however its applications to robotics have been limited, partly because the problem is very hard to solve even numerically. In this talk I will summarize a recently-developed formulation of stochast...
Added over 5 years ago | 00:46:46 | 6279 views
Designing controllers for legged locomotion requires dealing with complex nonlinear dynamics and non-trivial notions of stability including limit cycles and dynamically stable maneuvers. In this talk I will describe the LQR-Trees algorit...
Added over 5 years ago | 00:28:29 | 3004 views
Lower limb prostheses have traditionally been passive devices that lack the ability to generate net power at the joints. This absence of net power generation impairs the ability of passive prosthesis to restore biomechanically healthy fu...
Added over 5 years ago | 00:37:55 | 3053 views
Until recently, athletes using Passive Elastic Running Prostheses (PERPS) were clearly at a disadvantage compared to those with fully functional biological legs. The remarkable accomplishments of a few prominent athletes (e.g. Oscar Pist...
Added over 5 years ago | 00:34:00 | 4683 views
Stable gaits of passive walking mechanisms often have narrow and strangely shaped regions of attraction, which are difficult both to estimate analytically and to enlarge using feedback from just a few actuators. For instance, linearizati...
Added over 5 years ago | 00:34:20 | 5658 views
We have proposed methods for generating energy-efficient dynamic bipedal gait based on passive dynamics. Parametrically excited dynamic bipedal walking is a novel approach to efficient level dynamic walking. In this method, the robot res...
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