Toward Elastic Bipedal Walking Robots
Speaker: Reza Ghorbani , University of Manitoba, Winnipeg, MB, Canada
Date: July 10 2007
Time: 1:00PM to 2:00PM
Location: STAR (32-D463)
Host: Russ Tedrake, CSAIL
Contact: Katie Byl, 617-253-7076, katiebyl@mit.edu
Abstract:
Can bipedal walking robots move efficiently like a human? There are two major trends for building the bipedal walking robots: 1- Humanoid robot as a machine which is built to function like a human. Today ones are extremely inefficient caused by power dissipation, collision and impact events, actuation systems and control strategies. 2- Passive walking robot as a 100% dynamic walking machine which mimics human walking. They are unstable, without functionality and need precise tuning. No power dissipation in actuation but still has energy loss in collision and impact events.
That means design of the bipedal walking robots should be modified to satisfy two major aspects: efficiency and functionality (moves like a human). The seminar will present what are the main challenges to achieve these goals and how can we attack the problems. Characteristics of adjustable stiffness series elastic tendons and actuators will be reviewed. Control issues involved in elastic bipedal walking will also be discussed.
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