Powered flight, child's play, silly wheels and walking machines
- 7 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1592-1597 vol.3
- https://doi.org/10.1109/robot.1989.100205
Abstract
Recent theoretical and experimental studies of biped walking machines are reviewed. The author summarizes results in passive and pumped walking, and discuss issues arising for robot design. The fundamental idea is that a pair or pendula will walk just as naturally as a wheel will roll. It is shown that, as far as dynamics and control are concerned, use of the passive walking effect can substantially simplify biped design. In particular, it tidily resolves the problems of trajectory selection, generation, and stabilization which become the focus of attention in devising active means of walking. Methods of modulating and pumping the passive cycle emerge naturally from dynamics analysis and the cycle makes inherently efficient use of energy without being sensitive to how the energy is supplied. The walking mode persists across a wide range of variations on the coupled-pendula theme, and so allows the designer generous latitude.Keywords
This publication has 5 references indexed in Scilit:
- A motion control scheme for a biped robot to climb sloping surfacesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Passive Dynamic WalkingThe International Journal of Robotics Research, 1990
- The realization of dynamic walking by the biped walking robot WL-10RD.Journal of the Robotics Society of Japan, 1985
- Realization of a high speed biped using modern control theoryInternational Journal of Control, 1984
- Dynamic Walk of a BipedThe International Journal of Robotics Research, 1984