RePaC Design and Control: Cheap and Fast Autonomous Runners

Abstract

Evolving dynamically stable robots from traditional statically stable walkers has not yet been feasible due to fundamental task differences, kinematic, actuation and energetic constraints. Instead, simple solutions to the dynamic locomotion problem are available, based on "RePaC" Revolute Passive Compliance design and control. We will describe the RePaC design and control principles and show how they result in inexpensive, autonomous, energy efficient running and walking robots.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2001
Accession Number
ADA438774

Entities

People

  • M. Buehler

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Abstracts
  • Actuators
  • Energy Efficiency
  • Engineering
  • Information Operations
  • Joints
  • Joints (Anatomy)
  • Locomotion
  • Mobility
  • Oscillation
  • Periodic Functions
  • Power Distribution
  • Robots
  • Standards
  • Trajectories

Readers

  • Robotics and Automation.
  • Systems Analysis and Design

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control