A Bipedal Walking Robot with Efficient and Human-Like Gait

  title={A Bipedal Walking Robot with Efficient and Human-Like Gait},
  author={Steven H. Collins and Andy Ruina},
  journal={Proceedings of the 2005 IEEE International Conference on Robotics and Automation},
  • S. Collins, A. Ruina
  • Published 18 April 2005
  • Biology, Engineering
  • Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Here we present the design of a passive-dynamics based, fully autonomous, 3-D, bipedal walking robot that uses simple control, consumes little energy, and has human-like morphology and gait. Design aspects covered here include the freely rotating hip joint with angle bisecting mechanism; freely rotating knee joints with latches; direct actuation of the ankles with a spring, release mechanism, and reset motor; wide feet that are shaped to aid lateral stability; and the simple control algorithm… 

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