Passive Dynamic Balancing and Walking in Actuated Environments
Jenna Reher,Noel Csomay-Shanklin,David L. Christensen,Bobby Bristow,Aaron D. Ames,Lanny Smoot,Jenna Reher,Noel Csomay-Shanklin,David L. Christensen,Bobby Bristow,Aaron D. Ames,Lanny Smoot
The control of passive dynamic systems remains a challenging problem in the field of robotics, and insights from their study can inform everything from dynamic behaviors on actuated robots to robotic assistive devices. In this work, we explore the use of flat actuated environments for realizing passive dynamic balancing and locomotion. Specifically, we utilize a novel omnidirectional actuated floo...
