Passive Dynamic Balancing and Walking in Actuated Environments

Passive Dynamic Balancing and Walking in Actuated Environments. Reher, J., Csomay-Shanklin, N., Christensen, D. L., Bristow, B., Ames, A. D., & Smoot, L. In 2020 IEEE International Conference on Robotics and Automation (ICRA), pages 9775–9781, Paris, France, May, 2020. IEEE.

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The control of passive dynamic systems remains a challenging problem in the ﬁeld of robotics, and insights from their study can inform everything from dynamic behaviors on actuated robots to robotic assistive devices. In this work, we explore the use of ﬂat actuated environments for realizing passive dynamic balancing and locomotion. Speciﬁcally, we utilize a novel omnidirectional actuated ﬂoor to dynamically stabilize two robotic systems. We begin with an inverted pendulum to demonstrate the ability to control a passive system through an active environment. We then consider a passive bipedal robot wherein dynamically stable periodic walking gaits are generated through an optimization that leverages the actuated ﬂoor. The end result is the ability to demonstrate passive dynamic walking experimentally through the use of actuated environments.

@inproceedings{reher_passive_2020,
	address = {Paris, France},
	title = {Passive {Dynamic} {Balancing} and {Walking} in {Actuated} {Environments}},
	isbn = {978-1-72817-395-5},
	url = {https://ieeexplore.ieee.org/document/9197400/},
	doi = {10.1109/ICRA40945.2020.9197400},
	abstract = {The control of passive dynamic systems remains a challenging problem in the ﬁeld of robotics, and insights from their study can inform everything from dynamic behaviors on actuated robots to robotic assistive devices. In this work, we explore the use of ﬂat actuated environments for realizing passive dynamic balancing and locomotion. Speciﬁcally, we utilize a novel omnidirectional actuated ﬂoor to dynamically stabilize two robotic systems. We begin with an inverted pendulum to demonstrate the ability to control a passive system through an active environment. We then consider a passive bipedal robot wherein dynamically stable periodic walking gaits are generated through an optimization that leverages the actuated ﬂoor. The end result is the ability to demonstrate passive dynamic walking experimentally through the use of actuated environments.},
	language = {en},
	urldate = {2020-11-12},
	booktitle = {2020 {IEEE} {International} {Conference} on {Robotics} and {Automation} ({ICRA})},
	publisher = {IEEE},
	author = {Reher, Jenna and Csomay-Shanklin, Noel and Christensen, David L. and Bristow, Bobby and Ames, Aaron D. and Smoot, Lanny},
	month = may,
	year = {2020},
	pages = {9775--9781},
}

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