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.
https://hal.inria.fr/hal-00818427
Contributor : Pierre-Yves Oudeyer
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Submitted on : Tuesday, April 30, 2013 - 12:12:38 PM
Last modification on : Wednesday, July 3, 2019 - 10:48:04 AM
Long-term archiving on : Tuesday, April 4, 2017 - 1:04:38 AM
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. ⟨hal-00818427⟩
