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• W1636642017 abstract "Terrestrial robots must be capable of negotiating rough terrain if they are to become autonomous outside of the lab. Although the control mechanism offered by wheels is attractive in its simplicity, any wheeled system is confined to relatively flat terrain. Wheels will also only ever be useful for rolling, while limbs observed in nature are highly multimodal. The robust locomotive utility of legs is evidenced by the many animals that walk, run, jump, swim, and climb in a world full of challenging terrain. On the other hand, legs with multiple degrees of freedom (DoF) require much more complex control and precise sensing than wheels. Legged robotic systems are easily hampered by sensor noise and bulky control loops that prohibit the high-speed adaptation to external perturbations necessary for dynamic stability in real time. Low sensor bandwidth can limit the system’s reaction time to external perturbations. It is also often necessary to filter sensor data, which introduces significant delays in the control loop. In addition, state estimation is often relied upon in order to compute active stabilizing responses. State estimation requires accurate sensor data, often involving filtering, and can involve additional nontrivial computation such as the pseudo-inversion of fullbody Jacobians. This perception portion of the control burden is all incurred before a response can be planned and executed. These delays can prevent a system from executing a corrective response before instability leads to failure. The present work presents an approach to legged system design and control that reduces both the perception and planning aspects of the online control burden. A commonly accepted design goal in robotics is to accomplish a task with the fewest possible DoF in order to tighten the control loop and avoid the curse of dimensionality. However, animals control many DoF in a manner that adapts to external perturbations faster than can be explained by efferent neural control. The passive mechanics of segmented animal limbs are capable of rejecting" @default.
• W1636642017 created "2016-06-24" @default.
• W1636642017 creator A5080783787 @default.
• W1636642017 date "2015-01-01" @default.
• W1636642017 modified "2023-09-26" @default.
• W1636642017 title "Reducing the Control Burden of Legged Robotic Locomotion through Biomimetic Consonance in Mechanical Design and Control" @default.
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