Walking with dinosaurs

摘要

Very clever graphics have made it possbile to recreate the world of the dinosaurs in some great recent documentaries and films. However, the simulations lack some of the realism that might come from physical reconstructions. Building any bipeds, let alone robotic dinosaurs, brings with it a multiplicity of challenges. This paper describes the design and control of a pneumatically-actuated biped walking machien inspired by the dinosaur Struthiomimus and presents some preliminary results pertaining to a novel implementation of PD control for non-linear actuators.