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Design of Dynamically Stable Legged Robots

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. However, the remaining challenges which we address are to devise mechanisms which are physically implementable, support a large range of operating conditions (primarily speed) and allow for efficient running AND walking. The concrete aim of this project is to design and analyze the dynamics of a biped ``Planar Dog'', consisting of two articulated legs connected via a body, and other more complex and versatile legged robots based on this passive dynamics principle.

H. Lim, M. Ahmadi, M. Buehler



Thierry Baron
Mon Nov 13 10:43:02 EST 1995