Paul
Fakultäten » Wirtschaftswissenschaftliche Fakultät » Informatik, Institut für » Prof. Dr. Rolf Pfeifer » Paul
Completed research project
| Title / Titel | Biped robot walking | ||||||
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| Abstract (PDF, 14 KB) | |||||||
| Summary / Zusammenfassung | The goal of this project is to study and compare aspects of human and robotic biped locomotion. While biped locomotion has been studied previously, this project puts a new emphasis on studying the tight interaction between the dynamical characteristics of the morphology and control architectures. It is hypothesized that in humans the spinal cord based neural controller uses the intrinsic dynamics of the legs for control. We would like to investigate how dynamics can be utilized to develop a minimal controller for a robotic biped, i.e. one which applies the minimum amount of surplus forces required, in addition to the intrinsic dynamical forces, to acheive stable and robust walking behavior. Such a controller should be able to display robust walking under a different conditions such as walking downhill, up a slope, on flat or rough terrain without any changes to the controller. The project will be a collaboration with the Paraplegic Center at the University Hospital (ParaLab) who will utilize the insights gained to improve rehabilitation of paraplegic patients, and the ETH Automatic Control Lab who will use the results to improve neural prosthetic techniques. Weitere Informationen |
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| Keywords / Suchbegriffe | Biped robot, Neural Control, Dynamic gait generation, Energy optimal control | ||||||
| Project leadership and contacts / Projektleitung und Kontakte |
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| Funding source(s) / Unterstützt durch |
SNF (Personen- und Projektförderung) A new TANDEM proposal has been submitted. |
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| In collaboration with / In Zusammenarbeit mit |
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| Duration of Project / Projektdauer | Jan 1999 to Jun 2002 |