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2016


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On designing an active tail for legged robots: simplifying control via decoupling of control objectives

Heim, S. W., Ajallooeian, M., Eckert, P., Vespignani, M., Ijspeert, A. J.

Industrial Robot: An International Journal, 43, pages: 338-346, Emerald Group Publishing Limited, 2016 (article)

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Preprint [BibTex]

2016


Preprint [BibTex]


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ATRIAS: Design and validation of a tether-free 3D-capable spring-mass bipedal robot

Hubicki, C., Grimes, J., Jones, M., Renjewski, D., Spröwitz, A., Abate, A., Hurst, J.

{The International Journal of Robotics Research}, 35(12):1497-1521, Sage Publications, Inc., Cambridge, MA, 2016 (article)

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DOI Project Page [BibTex]

DOI Project Page [BibTex]

2015


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Exciting Engineered Passive Dynamics in a Bipedal Robot

Renjewski, D., Spröwitz, A., Peekema, A., Jones, M., Hurst, J.

{IEEE Transactions on Robotics and Automation}, 31(5):1244-1251, IEEE, New York, NY, 2015 (article)

Abstract
A common approach in designing legged robots is to build fully actuated machines and control the machine dynamics entirely in soft- ware, carefully avoiding impacts and expending a lot of energy. However, these machines are outperformed by their human and animal counterparts. Animals achieve their impressive agility, efficiency, and robustness through a close integration of passive dynamics, implemented through mechanical components, and neural control. Robots can benefit from this same integrated approach, but a strong theoretical framework is required to design the passive dynamics of a machine and exploit them for control. For this framework, we use a bipedal spring–mass model, which has been shown to approximate the dynamics of human locomotion. This paper reports the first implementation of spring–mass walking on a bipedal robot. We present the use of template dynamics as a control objective exploiting the engineered passive spring–mass dynamics of the ATRIAS robot. The results highlight the benefits of combining passive dynamics with dynamics-based control and open up a library of spring–mass model-based control strategies for dynamic gait control of robots.

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link (url) DOI Project Page [BibTex]

2015


link (url) DOI Project Page [BibTex]