Marc H. Raibert

Bio: Marc H. Raibert is an academic researcher from Boston Dynamics. The author has contributed to research in topics: Robot & Tactile sensor. The author has an hindex of 31, co-authored 52 publications receiving 7143 citations. Previous affiliations of Marc H. Raibert include Sony Broadcast & Professional Research Laboratories & Carnegie Mellon University.

Legged Robots That Balance

Abstract: This book, by a leading authority on legged locomotion, presents exciting engineering and science, along with fascinating implications for theories of human motor control. It lays fundamental groundwork in legged locomotion, one of the least developed areas of robotics, addressing the possibility of building useful legged robots that run and balance.The book describes the study of physical machines that run and balance on just one leg, including analysis, computer simulation, and laboratory experiments. Contrary to expectations, it reveals that control of such machines is not particularly difficult. It describes how the principles of locomotion discovered with one leg can be extended to systems with several legs and reports preliminary experiments with a quadruped machine that runs using these principles.Raibert's work is unique in its emphasis on dynamics and active balance, aspects of the problem that have played a minor role in most previous work. His studies focus on the central issues of balance and dynamic control, while avoiding several problems that have dominated previous research on legged machines.Marc Raibert is Associate Professor of Computer Science and Robotics at Carnegie-Mellon University and on the editorial board of The MIT Press journal, "Robotics Research. Legged Robots That Balance" is fifteenth in the Artificial Intelligence Series, edited by Patrick Winston and Michael Brady.

Experiments in Balance with a 3D One-Legged Hopping Machine

Abstract: In order to explore the balance in legged locomotion, we are studying systems that hop and run on one springy leg. Pre vious work has shown that relatively simple algorithms can achieve balance on one leg for the special case of a system that is constrained mechanically to operate in a plane (Rai bert, in press; Raibert and Brown, in press). Here we general ize the approach to a three-dimensional (3D) one-legged machine that runs and balances on an open floor without physical support. We decompose control of the machine into three separate parts: one part that controls forward running velocity, one part that controls attitude of the body, and a third part that controls hopping height. Experiments with a physical 3D one-legged hopping machine showed that this control scheme, while simple to implement, is powerful enough to permit hopping in place, running at a desired rate, and travel along a simple path. These algorithms that control locomotion in 3D are direct generalizations of those in 2D, with surpris...

Animation of dynamic legged locomotion

Abstract: This paper is about the use of control algorithms to animate dynamic legged locomotion. Control could free the animator from specifying the details of joint and limb motion while producing both physically realistic and natural looking results. We implemented computer animations of a biped robot, a quadruped robot, and a kangaroo. Each creature was modeled as a linked set of rigid bodies with compliant actuators at its joints. Control algorithms regulated the running speed, organized use of the legs, and maintained balance. All motions were generated by numerically integrating equations of motion derived from the physical models. The resulting behavior included running at various speeds, traveling with several gaits (run, trot, bound, gallop, and hop), jumping, and traversing simple paths. Whereas the use of control permitted a variety of physically realistic animated behavior to be generated with limited human intervention, the process of designing the control algorithms was not automated: the algorithms were "tweaked" and adjusted for each new creature.

Running on four legs as though they were one

Abstract: Simple locomotion algorithms provide balance for machines that run on one leg. The generalization of these one-leg algorithms for control of machines with several legs is explored. The generalization is quite simple when muitilegged systems run with gaits that use the support legs one at a time. For these gaits the one-leg algorithms can be used to control multilegged running. The concept of a virtual leg is introduced to further extend the approach to gaits that use the legs in pairs, such as the trot, the pace, and the bound. These quadruped running gaits map into gaits that use one virtual leg for support at a time, for which the one-leg algorithms can provide control. This approach was used in laboratory experiments to control a quadruped machine that runs with a trotting gait.

Passive dynamic walking

Abstract: There exists a class of two-legged machines for which walking is a natural dynamic mode. Once started on a shallow slope, a machine of this class will settle into a steady gait quite comparable to ...

Features and uses of high-fidelity medical simulations that lead to effective learning: a BEME systematic review

Abstract: SUMMARY Review date: 1969 to 2003, 34 years. Background and context: Simulations are now in widespread use in medical education and medical personnel evaluation. Outcomes research on the use and effectiveness of simulation technology in medical education is scattered, inconsistent and varies widely in methodological rigor and substantive focus. Objectives: Review and synthesize existing evidence in educational science that addresses the question, ‘What are the features and uses of high-fidelity medical simulations that lead to most effective learning?’. Search strategy: The search covered five literature databases (ERIC, MEDLINE, PsycINFO, Web of Science and Timelit) and employed 91 single search terms and concepts and their Boolean combinations. Hand searching, Internet searches and attention to the ‘grey literature’ were also used. The aim was to perform the most thorough literature search possible of peer-reviewed publications and reports in the unpublished literature that have been judged for academic quality. Inclusion and exclusion criteria: Four screening criteria were used to reduce the initial pool of 670 journal articles to a focused set of 109 studies: (a) elimination of review articles in favor of empirical studies; (b) use of a simulator as an educational assessment or intervention with learner outcomes measured quantitatively; (c) comparative research, either experimental or quasi-experimental; and (d) research that involves simulation as an educational intervention. Data extraction: Data were extracted systematically from the 109 eligible journal articles by independent coders. Each coder used a standardized data extraction protocol. Data synthesis: Qualitative data synthesis and tabular presentation of research methods and outcomes were used. Heterogeneity of research designs, educational interventions, outcome measures and timeframe precluded data synthesis using meta-analysis. Headline results: Coding accuracy for features of the journal articles is high. The extant quality of the published research is generally weak. The weight of the best available evidence suggests that high-fidelity medical simulations facilitate learning under the right conditions. These include the following:

Adaptive representation of dynamics during learning of a motor task

Abstract: We investigated how the CNS learns to control movements in different dynamical conditions, and how this learned behavior is represented. In particular, we considered the task of making reaching movements in the presence of externally imposed forces from a mechanical environment. This environment was a force field produced by a robot manipulandum, and the subjects made reaching movements while holding the end-effector of this manipulandum. Since the force field significantly changed the dynamics of the task, subjects' initial movements in the force field were grossly distorted compared to their movements in free space. However, with practice, hand trajectories in the force field converged to a path very similar to that observed in free space. This indicated that for reaching movements, there was a kinematic plan independent of dynamical conditions. The recovery of performance within the changed mechanical environment is motor adaptation. In order to investigate the mechanism underlying this adaptation, we considered the response to the sudden removal of the field after a training phase. The resulting trajectories, named aftereffects, were approximately mirror images of those that were observed when the subjects were initially exposed to the field. This suggested that the motor controller was gradually composing a model of the force field, a model that the nervous system used to predict and compensate for the forces imposed by the environment. In order to explore the structure of the model, we investigated whether adaptation to a force field, as presented in a small region, led to aftereffects in other regions of the workspace. We found that indeed there were aftereffects in workspace regions where no exposure to the field had taken place; that is, there was transfer beyond the boundary of the training data. This observation rules out the hypothesis that the subject's model of the force field was constructed as a narrow association between visited states and experienced forces; that is, adaptation was not via composition of a look-up table. In contrast, subjects modeled the force field by a combination of computational elements whose output was broadly tuned across the motor state space. These elements formed a model that extrapolated to outside the training region in a coordinate system similar to that of the joints and muscles rather than end-point forces. This geometric property suggests that the elements of the adaptive process represent dynamics of a motor task in terms of the intrinsic coordinate system of the sensors and actuators.

Series elastic actuators

Abstract: It is traditional to make the interface between an actuator and its load as stiff as possible. Despite this tradition, reducing interface stiffness offers a number of advantages, including greater shock tolerance, lower reflected inertia, more accurate and stable force control, less inadvertent damage to the environment, and the capacity for energy storage. As a trade-off, reducing interface stiffness also lowers zero motion force bandwidth. In this paper, the authors propose that for natural tasks, zero motion force bandwidth isn't everything, and incorporating series elasticity as a purposeful element within the actuator is a good idea. The authors use the term elasticity instead of compliance to indicate the presence of a passive mechanical spring in the actuator. After a discussion of the trade-offs inherent in series elastic actuators, the authors present a control system for their use under general force or impedance control. The authors conclude with test results from a revolute series-elastic actuator meant for the arms of the MIT humanoid robot Cog and for a small planetary rover.