Stuart O. Anderson

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— Passive dynamic walking is interesting for hu-manoid robots because of the efficient, natural-looking, and naturally stable gait. However, most prototypes so far have been equipped with arc-shaped feet rigidly mounted to the shank, which has been deemed 'non-human', and it prevents certain functions such as standing still. In this paper, we show that the(More)
We present an olgorithm designed to solve the problem of maintoining communicoiions within a group of robotic explorers. The rovers we consider are equipped with communication hordwore that is Hective only aver a limited range and requires direct line of sight to function. The paper presents the algorithm used to solve this problem and some details of our(More)
— We describe three bipedal robots that are designed and controlled based on principles learned from the gaits of passive dynamic walking robots. This paper explains the common control structure and design procedure used to determine the mechanical and control parameters of each robot. We present this work in the context of three robots: Denise, the Delft(More)
— Motion capture is a good source of data for programming humanoid robots because it contains the natural styles and synergies of human behaviors. However, it is difficult to directly use captured motion data because the kinematics and dynamics of humanoid robots differ significantly from those of humans. In our previous work, we developed a controller that(More)
This paper describes mechanisms used by humans to stand on moving platforms, such as a bus or ship, and to combine body orientation and motion information from multiple sensors including vision, vestibular, and proprioception. A simple mechanism, sensory re-weighting, has been proposed to explain how human subjects learn to reduce the effects of(More)
— Developing global value functions for humanoid robots using dynamic programming is difficult because they have many internal degrees of freedom. We present a formalism whereby a value function for a humanoid robot can be approximated using the known value functions of similar systems. These similar systems can include approximate models of the robot with(More)
— Biomechanical models of human standing balance in the sagittal plane typically treat the two ankle joints as a single degree of freedom. They describe the sum of the torques produced by the ankles, but do not predict what the contribution of each ankle will be. Similarly, balance algorithms for bipedal robots control the location of the overall center of(More)
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