30 Oct '17, 7pm

Weak, Brainless Quadruped Robot Autonomously Generates Gaits

Weak, Brainless Quadruped Robot Autonomously Generates Gaits

Roboticists working on quadrupedal locomotion usually spend a lot of time developing control strategies to make their robots more robust and adaptable. The idea is that an advanced controller will let your robot do things on its own more effectively, such as choosing the proper gait for a given task or terrain. Researchers from Osaka University in Japan are experimenting with a different approach—relying on interactions between the body of a quadruped and its environment to generate gaits without any sensors or controllers or, really, much of anything besides some deliberately weak leg motors. The most remarkable point of this concept is that the mechanical passivity of a low-torque DC motor behaves as an oscillator model to generate gaits. The low-torque motor in each leg delays and adjusts the phases of the legs by exploiting only a purely physical mechanism: its own wea...

Full article: https://spectrum.ieee.org/automaton/robotics/robotics-har...

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