Robust Semi-Passive Dynamic Walking in Acroban the Humanoid

This video shows that the Acroban humanoid can achieve autonomous
semi-passive dynamic walking by generating a self-perturbation in the
form of CPGs (central pattern generators), while continuing to keep
its balance with the same motor primitive as in other Acroban videos,
of which motor commands simply add up with those of the CPGs (and
these two sets of closed-loop motor primitives interact only through
the physics of the robot, which illustrates the modularity of the
system). The multi-articulated torso allows both for natural
stabilization and accumulation/release of potential/kinetic energy
through the coupled triple pendulum system: vertebral column (one
inverted pendulum) and arms (two pendulums). This video also
demonstrates that the robot is also robust to potentially large
unknown external perturbations while dynamically walking.

More info on: http://flowers.inria.fr/acroban.php

Keywords: Developmental robotics, humanoid, robotics, passive dynamic walking, vertebral column, spine, compliance, robot, biped,
human-robot interaction, child-robot interaction, Luxo Jr. effect, morphological computation, semi-passive dynamics, physical human-robot interaction, personal robotics

Category:

Science & Technology

Tags:

• INRIA
• Developmental
• robotics
• humanoid
• passive
• dynamic
• walking
• vertebral
• column
• spine
• compliance
• robot
• biped