Morphological computation in a fast-running quadruped with elastic spine

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    Abstract

    In high-speed locomotion, control is best shared between "brain" and "body": if the natural body dynamics already exhibit desired behaviour, control action can be restricted to stabilising this behaviour, or providing energy to keep it going. This morphological computation can be modelled and designed using Port-Hamiltonian systems (PHS) theory, since the basis of both is the interconnection of dynamic elements. In this paper, we explore the application of PHS to morphological computation, showing that a three degrees-of-freedom elastic spring functioning as spine in a quadrupedal robot can lead to forward locomotion—without any complicated control action whatsoever.
    Original languageUndefined
    Title of host publication5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, LHMNC 2015
    Place of PublicationAmsterdam
    PublisherElsevier
    Pages170-175
    Number of pages6
    ISBN (Print)2405-8963
    DOIs
    Publication statusPublished - Jul 2015
    Event5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control, LHMNC 2015 - Lyon, France
    Duration: 6 Jul 20157 Jul 2015
    Conference number: 5

    Publication series

    NameIFAC-PapersOnLine
    PublisherElsevier
    Number13
    Volume38
    ISSN (Print)2405-8963

    Workshop

    Workshop5th IFAC Workshop on Lagrangian and Hamiltonian Methods for Non Linear Control, LHMNC 2015
    Abbreviated titleLHMNC
    CountryFrance
    CityLyon
    Period6/07/157/07/15

    Keywords

    • EWI-26487
    • Robot dynamics
    • Locomotion
    • IR-98408
    • Numerical simulation
    • Control by interconnection
    • METIS-315046
    • Port Hamiltonian Systems

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