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Design of Dynamically Stable Legged Robots

Authors: [tex2html_wrap4392]M. Ahmadi, M. Buehler

Investigator username: buehler

Category: robotics

Subcategory: ambulatory robotics

A key problem in dynamic robot walking and running is the large number of intrinsic control and energy constraints. Surprisingly, simple mechanisms can be designed which walk without any active control, driven purely by their passive dynamics. The aim of this project is to design and analyze the dynamics of a planar biped with articulated legs, and other more complex and versatile legged robots based on this passive dynamics principle.