Bio-inspired vertebral column, compliance and semi-passive dynamics in a lightweight robot

Olivier Ly 1, 2 Matthieu Lapeyre 1 Pierre-Yves Oudeyer 1
1 Flowers - Flowing Epigenetic Robots and Systems
Inria Bordeaux - Sud-Ouest, ENSTA ParisTech U2IS - Unité d'Informatique et d'Ingénierie des Systèmes
2 LaBRI - Laboratoire Bordelais de Recherche en Informatique
Abstract : This paper presents the humanoid robot Acroban. We study two main issues: 1) Compliance and semi-passive dynamics for locomotion of humanoid robots regarding robustness against unknown external perturbations; 2) The advantages of a bio-inspired multi-articulated vertebral column. We combine mechatronic compliance with structural compliance due to the use of flexible materials. And we explore how these capabilities allow to enforce morphological computation in the design of robust dynamic locomotion. We also investigate the use of compliance to design semi-passive motor primitives using the torso and the arms as a system of accumulation/release of potential/kinetic energy.
Keywords : CPG Lightweight Humanoid Robot Morphological Com- putation Semi-Passive Dynamic Walking Compliance Vertebral Column Spine CPG.
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Communication dans un congrès
International Conference on Robots and Systems, Jul 2011, San Francisco, United States. 2011
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https://hal.inria.fr/hal-00818427
Contributeur : Pierre-Yves Oudeyer <>
Soumis le : mardi 30 avril 2013 - 12:12:38
Dernière modification le : vendredi 6 janvier 2017 - 01:22:40
Document(s) archivé(s) le : mardi 4 avril 2017 - 01:04:38

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  • HAL Id : hal-00818427, version 1

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Olivier Ly, Matthieu Lapeyre, Pierre-Yves Oudeyer. Bio-inspired vertebral column, compliance and semi-passive dynamics in a lightweight robot. International Conference on Robots and Systems, Jul 2011, San Francisco, United States. 2011. <hal-00818427>

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