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Data-Driven Discrete Planning for Targeted Hopping of Compliantly Actuated Robotic Legs

Daniel Seidel, Dominic Lakatos, Alin Albu-Schaffer
2018 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Motion planning for fast locomotion of compliantly actuated robotic legs is generally considered to be a challenging issue, posing considerable real-time problems.  ...  We show that for a planar leg with serial elastic actuation, hopping on a ground with stairs of irregular length and height can be planned online, based on a parameter mapping which has been learned in  ...  These models have to be implemented Targeted hopping based on data-driven mapping of a compliantly actuated robotic leg.  ... 
doi:10.1109/iros.2018.8593819 dblp:conf/iros/SeidelLA18 fatcat:5f777gg5hzaczhjdvis4l2abta

Spatio-temporal stiffness optimization with switching dynamics

Jun Nakanishi, Andreea Radulescu, David J. Braun, Sethu Vijayakumar
2016 Autonomous Robots  
Numerical evaluations on a brachiating robot driven with VSA Electronic supplementary material The online version of this article (and a hopping robot equipped with variable stiffness springs demonstrate  ...  We address the optimal control problem of robotic systems with variable stiffness actuation (VSA) including switching dynamics and discontinuous state transitions.  ...  We would like to thank Andrius Sutas for the development of the electronics and control interface of the hardware and Alexander Enoch for the design of the earlier version of the robot arm.  ... 
doi:10.1007/s10514-015-9537-x fatcat:qi35qnaylbcaxnyqbv3r63fi4e

Sensing through structure

Ronit Slyper, Ivan Poupyrev, Jessica Hodgins
2011 Proceedings of the fifth international conference on Tangible, embedded, and embodied interaction - TEI '11  
We use the natural structure (coordination) of the human body to enable a mapping from five clothing-mounted accelerometers to high-quality motion capture data, creating a low-cost performance animation  ...  Finally, we rethink this vocabulary and apply it to capturing, using air pressure sensors, manipulations of hollow 3D-printed rubber shapes, and 3D-print several interactive robots incorporating the new  ...  This situation mirrors that of our target application, where conversations with characters in the theme parks are usually character driven.  ... 
doi:10.1145/1935701.1935744 dblp:conf/tei/SlyperPH11 fatcat:edj74amzfvcuxo33qirabtivsm

Motion Planning and Control of Dynamic Humanoid Locomotion [article]

SONGYAN XIN
2019
The presence of various contact constraints and the hybrid nature of locomotion tasks make the planning a harder problem to solve.  ...  Due to the technological advances in many field, such as actuation, sensing, control and intelligence, it finally enables humanoid robots to possess human comparable capabilities.  ...  A solution is to use swing leg touchdown event to trigger the re-planning instead of waiting for command from the time driven state machine.  ... 
doi:10.15167/xin-songyan_phd2019-02-13 fatcat:amlfhcivpnfu3merbkqe5axcai

Motor and Sensor Network Topologies as Translators between Motor Control and Human Locomotion

Christian Schumacher
2020
Three studies investigate the role of these networks for generating elementary behaviours of locomotion.  ...  Evidence from human experiments shows benefits for coordinating the segmented leg, improving motion economy and controlling angular momentum.  ...  Acknowledgments We like to thank Jan Babic, Patrick Vonwirth and Koh Hosoda for providing images of robotic systems. Author Contributions CS, CR and MS reviewed studies.  ... 
doi:10.25534/tuprints-00011846 fatcat:y5otmxsjrja7blt6o7y6vrmf64

Sensing Through Structure

Ronit Slyper
2018
We use the natural structure (coordination) of the human body to enable a mapping from five clothing-mounted accelerometers to high-quality motion capture data, creating a low-cost performance animation  ...  Finally, we rethink this vocabulary and apply it to capturing, using air pressure sensors, manipulations of hollow 3D-printed rubber shapes, and 3D-print several interactive robots incorporating the new  ...  This situation mirrors that of our target application, where conversations with characters in the theme parks are usually character driven.  ... 
doi:10.1184/r1/6721484 fatcat:tlvpejrxjvhjtpt3inb7qzp2iu