• DOI:10.1126/SCIENCE.1107799
Corpus ID: 1315227

Efficient Bipedal Robots Based on Passive-Dynamic Walkers

@article{Collins2005EfficientBR,
  title={Efficient Bipedal Robots Based on Passive-Dynamic Walkers},
  author={S. Collins and A. Ruina and Russ Tedrake and M. Wisse},
  journal={Science},
  year={2005},
  volume={307},
  pages={1082 - 1085}
}

• S. Collins, A. Ruina, +1 author M. Wisse
• Published 2005
• Medicine
• Science

Passive-dynamic walkers are simple mechanical devices, composed of solid parts connected by joints, that walk stably down a slope. They have no motors or controllers, yet can have remarkably humanlike motions. This suggests that these machines are useful models of human locomotion; however, they cannot walk on level ground. Here we present three robots based on passive-dynamics, with small active power sources substituted for gravity, which can walk on level ground. These robots use less… Expand

View on AAAS

andrew.cmu.edu

Save to Library

Create Alert

Cite

Launch Research Feed