• Corpus ID: 160018774

Leveraging compliance in origami robot legs for robust and natural locomotion

@inproceedings{Deng2018LeveragingCI,
  title={Leveraging compliance in origami robot legs for robust and natural locomotion},
  author={X. Y. Deng and Cynthia R. Sung},
  year={2018}
}
We present an origami-inspired compliant robot leg design with three degree of freedom compliance. Using the proposed leg, we created a full quadrupedal robot that can walk robustly with adaption to non-flat terrains and external perturbations. We can reconfigure the design to change the stiffness. According to systematic locomotion tests, we demonstrate unique advantages of the proposed leg design over a rigid counterpart of the same dimension and weight in terms of enhancing locomotion… 
sung.seas.upenn.edu
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Artificial Invariant Subspace for Humanoid Robot Balancing in Locomotion
  • Xiang Deng, Daniel D. Lee
  • Computer Science
    2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • 2018
TLDR
This work proposes an approach to design a nonlinear controller for the balancing of humanoid robots with rigid bodies and employs the properties of invariance to perturbations in damped harmonic oscillators and formulate continuous feedback control in combination with predictive foot stepping to achieve continuous adaptive recoveries of the nominal walking cycle from unexpected physical disturbances.

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