Accession Number : ADA120692


Title :   Dynamically Stable Legged Locomotion


Descriptive Note : Rept. for 1 Dec 1980-30 Sep 1981


Corporate Author : CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST


Personal Author(s) : Raibert, Marc H ; Brown, H Benjamin , Jr ; Chepponis, Michael ; Hastings, Eugene ; Shreve, Steven E


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a120692.pdf


Report Date : 30 Nov 1981


Pagination or Media Count : 72


Abstract : Though vehicles that use legs for locomotion promise superior mobility and versatility, very little is known about their design and control. Balance, resonance, and dynamic control are key issues underlying high performance legged systems, both man-made and biological, yet understanding in these areas is particularly lacking. We focus attention on these important problems by studying hopping systems that have only one leg. A one-legged system must hop to locomote, must balance to hop, and must be dynamically controlled at all times to balance. An ideal one-legged planar hopping machine is presented with its equations of motion. Control is decomposed into a vertical hopping part and a horizontal balance part. A total vertical energy measure is used to control uniformity of hopping height when there are mechanical losses and irregular terrains. Balance and control of horizontal translation are explored through implementation of three controllers: a linear feedback controller, a stance controller, and a new table look-up controller. The design and operation of a physical planar hopping machine is discussed, along with preliminary experimental results for vertical control. Three new designs for experimental vehicles that operate in 3-space are presented. Two are mechanically simple designs with functional symmetry; the third is preliminary concept for a multi- legged balancing vehicle that is optimized for forward motion.


Descriptors :   *LEGS , *LOCOMOTION , *VEHICLES , ANGULAR MOMENTUM , DYNAMIC RESPONSE , EQUATIONS OF MOTION , MACHINES , STABILITY , TRAVERSING MECHANISMS


Subject Categories : Surface Transportation and Equipment
      Bionics


Distribution Statement : APPROVED FOR PUBLIC RELEASE