Harnessing nonlinearity: efficient control of compliant robots based on their natural dynamics

Kurzfassung

This dissertation explores maximizing robotic motion performance by leveraging natural dynamics instead of counteracting them with complex control or powerful actuators. It adopts a geometric approach to analyze and exploit nonlinear interactions, developing methods for generating and stabilizing cyclic motion, especially in locomotion. Validated through simulations and experiments, the findings demonstrate how intrinsic nonlinear oscillations enhance efficiency, advancing dynamic locomotion.