of Compliant Walking Up:Ambulatory
of Running in
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
Mon Jun 26 21:22:20 GMT 2000