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Control of Passive Dynamics

Authors: [tex2html_wrap4394]M. Ahmadi, M. Buehler

Investigator username: buehler

Category: robotics

Subcategory: ambulatory robotics

Design for passive dynamics appears to be necessary on the path towards energy efficient practical legged robots. However, robots with proper passive dynamics are either unstable or if there is a stable limit cycle, its domain of attraction is typically small. Interpreting locomotion as a periodically forced limit cycle oscillation of a highly nonlinear dynamical system, control forcing functions will be developed which stabilize the limit cycle over a large region of phase space, consume minimal energy, and provide strong robustness to modeling error, noise and external disturbances.

cliquesptitle Experimental Studies of Dynamically Stable Legged Robots Authors: [tex2html_wrap4396]P. Gregorio, M. Buehler

Investigator username: buehler

Category: robotics

Subcategory: ambulatory robotics

In the absence of accurate models of contact, material deformation, noise and actuator dynamics, physical experimentation is mandatory. One and two legged running robots are being constructed to verify our theories about legged robot design and control, identify critical control improvements for energy efficient control, to improve our models, and, most importantly, guide us in formulating theoretical problems with practical relevance.

cliquesptitle Design and Control of ATLAS Authors: [tex2html_wrap4398]G. Mennitto, M. Buehler

Investigator username: buehler

Category: robotics

Subcategory: ambulatory robotics

In order to build light weight legs for autonomous legged robots, we are constructing an actuation package with unprecedented torque to mass ratio: ATLAS - AnTagonistic LADD Actuation System. It consists of an antagonistic pair of two CLADDs, Concentric Linear Displacement Devices, which translate an electric motor's revolute motion into linear motion with a high effective gear ratio and high efficiency. The linear motion, in turn, is converted to a joint's revolute motion via a pulley. This project consists of optimizing the design of an ATLAS package, integrating it into an articulated robotic leg, and testing control strategies.


baron@cim.mcgill.ca