0

Full Content is available to subscribers

Subscribe/Learn More  >

Integrated Design and Control of a Biped Robot

[+] Author Affiliations
James P. Schmiedeler, Eric R. Westervelt, Adam R. Dunki-Jacobs

Ohio State University, Columbus, OH

Paper No. DETC2005-84848, pp. 167-173; 7 pages
doi:10.1115/DETC2005-84848
From:
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME

abstract

This paper introduces a methodology for the integration of mechanical and control system design of planar biped robots. The control approach is a procedure for the systematic design, analysis, and performance enhancement of controllers that induce provably stable dynamic walking in planar bipeds. Iterative application of this procedure with variations in the mechanical parameters of the biped model enables a designer to drive design changes based upon analytical metrics of stability and efficiency. The outcomes are a dynamically-informed mechanical design and controllers that maximally exploit the unforced dynamics of that design. This methodology has been applied to the design and construction of the prototype biped BIRT (BIped Robot with Three legs). BIRT is a planar biped whose two outside legs are slaved by means of control to act together. The paper provides a detailed description of BIRT’s mechanical system.

Copyright © 2005 by ASME
Topics: Robots , Design

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In