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There exists a class of two-legged machines for which walking is a natural dynamic mode: Once started on a shallow slope, such a machine will settle into a steady gait quite comparable to human walking, without active control or energy input. Interpretation and analysis of the underlying physics is straighgorward; the walking cycle, its stability, and(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 humanlike 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)
  • Tad McGeer
  • Proceedings of the Royal Society of London…
  • 1990
Human-like running is a natural dynamic mode of a simple mechanical biped. Such a machine consists of two telescoping legs with linear spriags, connected by a hip joint with a torsional spring. It will run passively; i.e. no pattern of forcing is required to generate the gait. With careful design its energy consumption can approach zero, but in any case the(More)
Human motion is controlled by the neuro-muscular system. But bipedal walking, an example of a basic human motion, might be largely understood as a passive mechanical process [3]. For example, Tad McGeer demonstrated, by both computer simulation and physical model construction (both of which we have repeated), that a somewhat anthropomorphic legged mechanism(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)
IEEE Robotics & Automation Magazine 13 Robots 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(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)
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