Learn More
Many robots excel at precise positioning and trajectory tracking using software control, and most successful robotic applications utilize this ability—examples include CNC machining, robotic welding , painting, and pick-and-place circuit board assembly. The mechanical design of these robots focuses on rigid transmissions and minimizing compliance in the(More)
This paper develops feedback controllers for walking in 3D, on level ground, with energy efficiency as the performance objective. Assume The Robot Is A Sphere (ATRIAS) 2.1 is a new robot that has been designed for the study of 3D bipedal locomotion, with the aim of combining energy efficiency, speed, and robustness with respect to natural terrain variations(More)
—Running is a complex dynamic task that places strict requirements on both the physical components and software-control systems of a robot. This paper explores some of those requirements and, in particular, explores how a variable-compliance actuation system can satisfy many of them. We present the mechanical design and software-control system for such an(More)
Running is a complex dynamic task which places strict requirements on both the physical components and software control systems of a robot. This report explores some of those requirements and in particular explores how a variable compliance actuation system can satisfy many of them. We present the mechanical design and software control of such an actuator(More)
M any robots excel at precise positioning and trajectory tracking using software control, and most successful robotic applications use this abil-ity—examples include computer numeric control (CNC) machining, robotic welding , painting, and pick-and-place circuit board assembly. The mechanical design of these robots focuses on rigid transmissions and(More)
— Running is a complex dynamical task which places strict design requirements on both the physical components and software control systems of a robot. This paper explores some of those requirements and illustrates how a variable compliance actuation system can satisfy them. We present the design, analysis, simulation, and benchtop experimental validation of(More)
— This paper discusses the design principles and philosophy of the BiMASC, a biped with Mechanically Adjustable Series Compliance which incorporates tuned mechanical leg springs. This robot will be capable of dynamic running using mechanical leg springs, as well as dynamic ballistic walking with human-like passive leg swing behavior. The BiMASC will enable(More)
— This paper introduces MABEL, a new platform for the study of bipedal locomotion in robots. One of the purposes of building the mechanism is to explore a novel pow-ertrain design that incorporates compliance, with the objective of improving the power efficiency of the robot, both in steady state operation and in responding to disturbances. A second purpose(More)