Modeling Framework and Software Tools for Walking Robots

V. Duindam, Stefano Stramigioli, F.N.J. Groen

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademic

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Abstract

In research on passive dynamic walking, the aim is to study and design robots that walk naturally, i.e., with little or no control effort. McGeer [1] and others (e.g. [2, 3]) have shown that, indeed, robots can walk down a shallow slope with no actuation, only powered by gravity. In this work, we derive mathematical models of walking ro- bots to better understand the dynamics that determine the walking behavior, and to design controllers that e.g. in- crease robustness against changing environments. We use the port-Hamiltonian framework, as it has the advantage of explicitly showing energy-flows inside and into the system. Thus, it allows a direct efficiency study as well as the possi- bility to connect external elements in a ‘physical’ way using ports, instead of using just torque/force signals.
Original languageUndefined
Title of host publication24th Benelux Meeting on Systems and Control
Place of PublicationBruxelles, Belgium
PublisherUniversité Libre de Bruxelles
Pages25-25
Number of pages1
ISBN (Print)not assigned
Publication statusPublished - 2005
Event24th Benelux Meeting on Systems and Control 2005 - Houffalize, Belgium
Duration: 22 Mar 200524 Mar 2005
Conference number: 24

Publication series

Name
PublisherUniversite Libre de Bruxelles

Conference

Conference24th Benelux Meeting on Systems and Control 2005
CountryBelgium
CityHouffalize
Period22/03/0524/03/05

Keywords

  • METIS-226094
  • EWI-19360
  • IR-75692

Cite this

Duindam, V., Stramigioli, S., & Groen, F. N. J. (2005). Modeling Framework and Software Tools for Walking Robots. In 24th Benelux Meeting on Systems and Control (pp. 25-25). Bruxelles, Belgium: Université Libre de Bruxelles.
Duindam, V. ; Stramigioli, Stefano ; Groen, F.N.J. / Modeling Framework and Software Tools for Walking Robots. 24th Benelux Meeting on Systems and Control. Bruxelles, Belgium : Université Libre de Bruxelles, 2005. pp. 25-25
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abstract = "In research on passive dynamic walking, the aim is to study and design robots that walk naturally, i.e., with little or no control effort. McGeer [1] and others (e.g. [2, 3]) have shown that, indeed, robots can walk down a shallow slope with no actuation, only powered by gravity. In this work, we derive mathematical models of walking ro- bots to better understand the dynamics that determine the walking behavior, and to design controllers that e.g. in- crease robustness against changing environments. We use the port-Hamiltonian framework, as it has the advantage of explicitly showing energy-flows inside and into the system. Thus, it allows a direct efficiency study as well as the possi- bility to connect external elements in a ‘physical’ way using ports, instead of using just torque/force signals.",
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isbn = "not assigned",
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Duindam, V, Stramigioli, S & Groen, FNJ 2005, Modeling Framework and Software Tools for Walking Robots. in 24th Benelux Meeting on Systems and Control. Université Libre de Bruxelles, Bruxelles, Belgium, pp. 25-25, 24th Benelux Meeting on Systems and Control 2005, Houffalize, Belgium, 22/03/05.

Modeling Framework and Software Tools for Walking Robots. / Duindam, V.; Stramigioli, Stefano; Groen, F.N.J.

24th Benelux Meeting on Systems and Control. Bruxelles, Belgium : Université Libre de Bruxelles, 2005. p. 25-25.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademic

TY - GEN

T1 - Modeling Framework and Software Tools for Walking Robots

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N2 - In research on passive dynamic walking, the aim is to study and design robots that walk naturally, i.e., with little or no control effort. McGeer [1] and others (e.g. [2, 3]) have shown that, indeed, robots can walk down a shallow slope with no actuation, only powered by gravity. In this work, we derive mathematical models of walking ro- bots to better understand the dynamics that determine the walking behavior, and to design controllers that e.g. in- crease robustness against changing environments. We use the port-Hamiltonian framework, as it has the advantage of explicitly showing energy-flows inside and into the system. Thus, it allows a direct efficiency study as well as the possi- bility to connect external elements in a ‘physical’ way using ports, instead of using just torque/force signals.

AB - In research on passive dynamic walking, the aim is to study and design robots that walk naturally, i.e., with little or no control effort. McGeer [1] and others (e.g. [2, 3]) have shown that, indeed, robots can walk down a shallow slope with no actuation, only powered by gravity. In this work, we derive mathematical models of walking ro- bots to better understand the dynamics that determine the walking behavior, and to design controllers that e.g. in- crease robustness against changing environments. We use the port-Hamiltonian framework, as it has the advantage of explicitly showing energy-flows inside and into the system. Thus, it allows a direct efficiency study as well as the possi- bility to connect external elements in a ‘physical’ way using ports, instead of using just torque/force signals.

KW - METIS-226094

KW - EWI-19360

KW - IR-75692

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BT - 24th Benelux Meeting on Systems and Control

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Duindam V, Stramigioli S, Groen FNJ. Modeling Framework and Software Tools for Walking Robots. In 24th Benelux Meeting on Systems and Control. Bruxelles, Belgium: Université Libre de Bruxelles. 2005. p. 25-25