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Control of Quadruped Walking with Passive Knees

Much of the lower leg motion during the swing phase in human walking is passive. We have followed a similar approach by designing a passive revolute knee joint for our Scout II quadruped robot. This permits new gaits, like trotting, keeps the design simple (in comparison with actively powered knee joints), and promises reduced power consumption - a critical challenge for autonomous robots.

The goal of this project is to develop compact designs for passive, but lockable joints, and control algorithms for trotting with passive knees.

G. Hawker, M. Buehler

Annual Report

Mon Jun 26 21:22:20 GMT 2000