On the embodiment that enables passive dynamic bipedal running

Dai Owaki, Koichi Osuka, Akio Ishiguro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

21 Citations (Scopus)

Abstract

The control and mechanical systems of an embodied agent should be tightly coupled so as to emerge useful functionalities such as adaptivity. This indicates that the mechanical system as well as the control system should be responsible for a certain amount of "computation" for generating the behavior. However, there still leaves much to be understood about to what extent "computational offloading" from the control system to the mechanical system should be achieved. In order to effectively consider this, here we particularly focus on a passive dynamic running biped whose behavior is generated purely from its mechanical system, and investigate how the body's properties influence the resulting behavior. Through the numerical simulations, we have found that two elastic parameters of its body, leg spring constant and hip coil spring constant, play a crucial role, and depending on which various kinds of stable gait patterns are generated. To the best of our knowledge, this has not been explicitly addressed so far. The results obtained are expected to shed a new light on to what extent the mechanical system should be responsible for generating the behavior.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages341-346
Number of pages6
DOIs
Publication statusPublished - 2008 Sep 18
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: 2008 May 192008 May 23

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CountryUnited States
CityPasadena, CA
Period08/5/1908/5/23

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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