RePaC Design and Control: Cheap and Fast Autonomous Runners

摘要

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.