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}
}
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
1,697 Citations
Toward a human-like biped robot with compliant legs
  • 65
  • PDF
A Bipedal Walking Robot with Efficient and Human-Like Gait
  • S. Collins, A. Ruina
  • Engineering, Computer Science
  • Proceedings of the 2005 IEEE International Conference on Robotics and Automation
  • 2005
  • 434
  • PDF
Optimal gait primitives for dynamic bipedal locomotion
  • Bokman Lim, J. Lee, +6 authors K. Roh
  • Engineering, Computer Science
  • 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • 2012
  • 11
Passive Dynamic Walking with Symmetric Fixed Flat Feet
  • 17
Level-Ground Walk Based on Passive Dynamic Walking for a Biped Robot with Torso
  • 10
  • PDF
Hybrid Zero Dynamics of Planar Bipedal Walking
  • 10
  • PDF
Development of Multi-legged Passive Dynamic Walking Robot
  • PDF
...
1
2
3
4
5
...

References

SHOWING 1-10 OF 88 REFERENCES
Dynamics and control of bipedal locomotion.
  • T. McGeer
  • Computer Science, Medicine
  • Journal of theoretical biology
  • 1993
  • 251
Passive Dynamic Walking
  • T. McGeer
  • Computer Science
  • Int. J. Robotics Res.
  • 1990
  • 3,187
  • PDF
A Three-Dimensional Passive-Dynamic Walking Robot with Two Legs and Knees
  • 810
  • PDF
Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots
  • J. Pratt
  • Engineering, Computer Science
  • 2000
  • 235
  • PDF
Energetics of actively powered locomotion using the simplest walking model.
  • A. Kuo
  • Engineering, Medicine
  • Journal of biomechanical engineering
  • 2002
  • 656
  • PDF
Biped dynamic walking using reinforcement learning
  • 193
  • PDF
Mechanical work for step-to-step transitions is a major determinant of the metabolic cost of human walking.
  • 556
  • PDF
Optimal feedback control as a theory of motor coordination
  • 2,431
  • PDF
Muscle and tendon: properties, models, scaling, and application to biomechanics and motor control.
  • F. Zajac
  • Chemistry, Medicine
  • Critical reviews in biomedical engineering
  • 1989
  • 2,765
The biomechanics and motor control of human gait
  • 1,399
  • Highly Influential
...
1
2
3
4
5
...