Jonathan W. Hurst

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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 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 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)
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 of bipedal robots with compliant legs. To achieve this goal and to take advantage of the characteristics of the template, we match the dynamics of the full multibody model of a real biped robot with the dynamics of a well-known running template called spring loaded inverted pendulum (SLIP)(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 powertrain 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 is(More)
We proposed three swing leg control policies for spring-mass running robots, inspired by experimental data from our recent collaborative work on ground running birds. Previous investigations suggest that animals may prioritize injury avoidance and/or efficiency as their objective function during running rather than maintaining limit-cycle stability.(More)
ATRIAS is a human-scale 3D-capable bipedal robot designed to mechanically embody the spring-mass model for dynamic walking and running. To help bring the extensive work on this theoretical model further into practice, we present the design and validation of a spring-mass robot which can operate in real-world settings (i.e., off-tether and without(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)