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- Mariano Garcia, Anindya Chatterjee, Andy Ruina, Michael J. Coleman
- Journal of biomechanical engineering
- 1998

We demonstrate that an irreducibly simple, uncontrolled, two-dimensional, two-link model, vaguely resembling human legs, can walk down a shallow slope, powered only by gravity. This model is theâ€¦ (More)

We present a geometric representation of the set of 3D rigid body collisional impulses that are reasonably permissible by the combination of non-negative post-collision separation rate, non-negativeâ€¦ (More)

- Anindya Chatterjee, R. Pratap, C. K. Reddy, Andy Ruina
- I. J. Robotics Res.
- 2002

We describe simple one-dimensional models of passive (no energy input, no control), generally dissipative, vertical hopping and oneball juggling. The central observation is that internal passiveâ€¦ (More)

This paper discusses the mechanics of a rigid rimless spoked wheel, or regular polygon, â€˜rollingâ€™ downhill. By rolling, we mean motions in which the wheel pivots on one â€˜supportâ€™ spoke until anotherâ€¦ (More)

- Mariano Garcia, Anindya Chatterjee, Andy Ruina
- ICRA
- 1998

This paper addresses some performance limits of the kneed and non-kneed passive-dynamic walking machines discovered by McGeer [10, 11]. Energetic inefficiency is measured by the slope Î³ needed toâ€¦ (More)

The operational range of electrostatic MEMS parallel plate actuators can be extended beyond pull-in in the presence of an intermediate dielectric layer, which has a significant effect on the behaviorâ€¦ (More)

In this paper, the hidden variable damage tracking method developed in Part 1 is lyzed using a physics-based mathematical model of the experimental system: a me cal oscillator with a nonstationaryâ€¦ (More)

This thesis attempts to present a uni ed view of the subject of rigid body collisions This includes discussion of basic assumptions fundamental and reasonable constraints on collision laws a surveyâ€¦ (More)

We consider passive dynamic walking machines of the kind originally studied by McGeer. For passive walking on arbitrarily small slopes, we show that any existing gaits must be correspondingly slow.â€¦ (More)

We report on 2D collision experiments with 9 thin Delrin disks with variable axisymmetric mass distributions. The disks floated on an air table, and collided at speeds of about 0.5 to 1.0 m/s with aâ€¦ (More)