Accession Number : ADA299453

Title :   Dynamic Legged Locomotion in Robots and Animals.

Descriptive Note : Progress rept.,

Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB

Personal Author(s) : Raibert, Marc ; Playter, Robert ; Ringrose, Robert ; Bailey, Dave ; Leeser, Karl

PDF Url : ADA299453

Report Date : JAN 1995

Pagination or Media Count : 123

Abstract : This report documents our study of active legged systems that balance actively and move dynamically. The purpose of this research is to build a foundation of knowledge that can lead both to the construction of useful legged vehicles and to a better understanding of how animal locomotion works. In this report we provide an update on progress during the past year. Here are the topics covered in this report: * Is Cockroach Locomotion Dynamic? -To address this question we created three models of cockroaches, each abstracted at a different level. We provided each model with a control system and computer simulation. One set of results suggests that "Groucho Running," a type of dynamic walking, seems feasible at cockroach scale. * How Do Bipeds Shift Weight Between the Legs? - We built a simple planar biped robot specifically to explore this question. It shifts its weight from one curved foot to the other, using a toe-off and toe-on strategy, in conjunction with dynamic tipping. * 3D Biped Gymnastics -The 3D biped robot has done front somersaults in the laboratory. The robot changes its leg length in flight to control rotation rate. This in turn provides a mechanism for controlling the landing attitude of the robot once airborne. * Passively Stabilized Layout Somersault-We have found that the passive structure of a gymnast, the configuration of masses and compliances, can stabilize inherently unstable maneuvers. This means that body biomechanics could play a larger role in controlling behavior than is generally thought. We used a physical "doll" model and computer simulation to illustrate the point. * Twisting-Some gymnastic maneuvers require twisting. We are studying how to couple the biomechanics of the system to its control to produce efficient, stable twisting maneuvers.

Descriptors :   *ROBOTS, *GROUND VEHICLES, *ANIMALS, *LOCOMOTION, COMPUTER PROGRAMS, COMPUTERIZED SIMULATION, CONTROL SYSTEMS, DYNAMICS, PARAMETERS, WALKING, RATES, PASSIVE SYSTEMS, CURVATURE, SCALE, LENGTH, SHIFTING, WEIGHT, INFLIGHT, TUNING, MANEUVERS, ROTATION, AUTOMATIC, BIOMECHANICS, LEGS, BLATTIDAE, LANDING, ATTITUDE(INCLINATION).

Subject Categories : Surface Transportation and Equipment

Distribution Statement : APPROVED FOR PUBLIC RELEASE