Investigation of Reality Constraints: Morphology and Controller of Two-Link Legged Locomotors for Dynamically Stable Locomotion
In this paper, we purpose to reveal effective design components for morphological functionality and reality constraints by analyzing simple locomotors in both virtual and real worlds. Firstly, we assumed that human experiences and techniques contained important design components so that we conducted edutainment course to acquire locomotors, which were heuristically designed. Then, we analyzed two remarkable locomotors in both virtual and real worlds. As a result, we have known that symmetrical design played an important role on dynamically stable locomotion because its design enabled to exploit its own dynamics as passive dynamics and also widened its controllability. Addition to it, the locomotors in both virtual and real worlds demonstrated similar characteristics.
KeywordsGround Reaction Force Design Component Morphological Functionality Symmetrical Design Bipedal Locomotion
Unable to display preview. Download preview PDF.
- 1.Alexander, R.: Principles of Animal Locomotion. Princeton University Press, New Jersey (2002)Google Scholar
- 5.Pfeifer, R., Scheier, C.: Understanding Intelligence. MIT Press, Cambridge (1999)Google Scholar
- 6.Raibert, M.H.: Legged Robots That Balance. MIT Press, Cambridge (1986)Google Scholar
- 7.Sims, K.: Evolving 3D morphology and behavior by competition. In: Brooks, R., Maes, P. (eds.) Artificial Life IV Proceedings, pp. 28–39. MIT Press, Cambridge (1994)Google Scholar
- 8.Smith, R.: Open Dynamics Engine (2000), URL: http://ode.org/