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Symbols (defining equations are noted in parentheses) Upper case ]Lower case 5' start-of-step to end-of-step transition submamx (22,23) derivatives of D w.r.t. step period (29) (26) damping matrix (38) angular momentum (A3) identity matrix link moment of inertia about its mass centre inertia ma& for an N-link chain (14, AM) 1 6 element of M (Al@ 1 2 number(More)
Passive dynamic walking, a phenomenon originally described for bipeds having straight legs, also works with knees. Thus given only a downhill elope aa a source of energy, a human-like pair of legs will settle into a natural gait generated by passive interaction of gravity and inertia. No muscular input is required. The physice is much the same as in(More)
  • T McGeer
  • 1993
The human frame is built for walking. It has both the right kinematics and the right dynamics--so much so, in fact, that our legs are capable of walking without any motor control. Their gait can be sustained simply by interaction of gravity and inertia, in a natural limit cycle which we call passive dynamic walking. This cycle needs motor input only for(More)
9:00a Simulation I Integrating equations of motion over one step, applying step-to-step transitions, building a library of helper functions Goal: Perform simulations of a walking model over one step (by lunch!) Art Kuo 12:00n Lunch 1:00p Equations of motion I: The TMT Method A method for numerically derivation, using only kinematic expressions Martijn Wisse(More)
R obots have been demonstrated to walk, crawl, or climb on uneven terrain. But legs and other features that might help to negotiate stairs or stepping stones come at a disadvantage: They rarely compete well with wheels for moving economically on smooth ground. While no obvious principles generally require that economy be traded for agility, the prospective(More)
In this thesis, I present the design and motion-capture analysis of two previously well-studied dynamic-walking machines, the rimless wheel and the compass gait robot. These robots were the basis for my undergraduate research at the Computer Science/Artificial Intelligence Laboratory (CSAIL) at the Massachusetts Institute of Technology. The rimless wheel is(More)
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