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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)
A total of 3,349 serum samples were screened by the immunofluorescence (IF) method for antibody to human T-cell leukemia virus type I (HTLV-I). Only 9 of 2,409 specimens from selected individuals, blood bank donors, patients with encephalitis-meningitis, and human immunodeficiency virus antibody-positive homosexual or bisexual men were reactive by IF. In(More)
The important message to take from this article is that a robot is a unified dynamic system comprising electronics, software, and mechanical components, and for certain tasks such as running, a significant portion of the behavior is best exhibited through natural dynamics of the mechanism. Therefore, the mechanical system must be specialized for the task(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)
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)
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 presents a methodology for achieving efficient multi-domain underactuated bipedal walking on compliant robots by formally emulating gaits produced by the Spring Loaded Inverted Pendulum (SLIP). With the goal of achieving locomotion that displays phases of double and single support, a hybrid system model is formulated that faithfully represents(More)
This paper develops feedback controllers for walking in 3D, on level ground, with energy efficiency as the performance objective. 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 in a single platform. The(More)
In this paper, we present a novel control strategy for running which is robust to disturbances, and makes excellent use of passive dynamics for energy economy. Our strategy combines two ideas: an existing flight phase policy, and a novel stance phase impulse control policy. The state-of-the-art flight phase policy commands a leg angle trajectory that(More)