Dynamically stable legged locomotion : second report to DARPA, October 1, 1981 - December 31, 1982

This report documents our recent progress in exploring balance and dynamic stability in leggcd systems. There have been five arcas of progress, each described in a separate chapter in the pages tliat follow. 0 Balance in 2D can be achieved bith a surprising!y simple control systcm. The control system has thrcc scparate parts. one that controls hopping hcight, one that controls the velocity of forward travel, and one that controls body attitude. X physical 2D one-lcggcd hopping machine that employs such a threc-part control systcm hops in place, runs from place to placc at sl;eeds of up to 2.7 rnph, maintains its balance when disturbed, and lcaps ovcr snial! obstacles. 0 Control of locomotion in 3D can build upon the results obtained in 2D. Simulations suggest that a 313 one-lcggcd machine could run and balance using tlie same three-part controllcr developed for 2D, provided that additional extra-planar mcchanisms operate to suppress roll, yaw, and lateral motions. 0 .b'c 1iii;c dcsigncd 2nd bui2 a physical one-lcggcd system h a t will pernit experimentation in the contro! of balance in JD. 'The de:.icc has a simple pneumatic leg that is positioncd by a hydraulic hip. I t will hop on an optri floor without a system of physical constraints. 0 Last j a r *e dcveloped a method for obtaining balancc t!ac uses kbuhtcd data. 'fhis ycar the nle~bod was extcnded by showing that the volumous tabular data can be appro:;iniated by a polynoniinl surface of modcratc degree, without much loss of control prccision. e We rcfiiicd our undcirutidin_g of the mcchanisms respoqsibic for balance by simulating and cornyring three diffcrcrit algorithms for horizontal contiol: one just placcs the foot during flight, one places thc foot during flight and sweeps the leg during stance, and the third places the foot during flight and controls body attitude during stance. Each of the three methods elucidates a diffcrciit principle of dynamic stability. The report closes with a bibliography on lcgged locomotion containing about 350 references.

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