Algorithmic Control of Walking
CORNELL UNIV ITHACA NY DEPT OF COMPUTER SCIENCE
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We suggest that there are two components required in most control schemes an algorithmic component which takes a high-level goal and generates joint trajectories, and a dynamics component which takes a high-level goal and generates joint trajectories, and a dynamics component which takes these joint trajectories and generates the required joint torques. The joint torques are then sent to the mechanism, which hopefully achieves the high-level goal. We present an approach that simplifies the programming of the algorithmic component for high degree of freedom objects. Instead of supplying a complete set of joint trajectories as a function of time, the algorithm controls other, more intuitive, degrees of freedom. These degrees of freedom are automatically converted to the more conventional joint trajectories. This approach is applied to generate joint trajectories for a walking biped. Reprints, Robotics.