Investigation of reality constraints: morphology and controller of two-link legged locomotors for dynamically stable locomotion

  • Authors:

  • Kojiro Matsushita;Hiroshi Yokoi;Tamio Arai

  • Affiliations:

  • Dept of Precision Engineering, The University of Tokyo, Tokyo, Japan;Dept of Precision Engineering, The University of Tokyo, Tokyo, Japan;Dept of Precision Engineering, The University of Tokyo, Tokyo, Japan

  • Venue:
  • SAB'06 Proceedings of the 9th international conference on From Animals to Animats: simulation of Adaptive Behavior
  • Year:
  • 2006

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Abstract

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.