Efficient Bipedal Robots Based on Passive-Dynamic Walkers
@article{Collins2005EfficientBR, title={Efficient Bipedal Robots Based on Passive-Dynamic Walkers}, author={Steven H. Collins and Andy Ruina and Russ Tedrake and Martijn Wisse}, journal={Science}, year={2005}, volume={307}, pages={1082 - 1085} }
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…
1,801 Citations
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