MABEL, a new robotic bipedal walker and runner

@article{Grizzle2009MABELAN,
  title={MABEL, a new robotic bipedal walker and runner},
  author={J. W. Grizzle and Jonathan W. Hurst and Benjamin Morris and Hae-Won Park and Koushil Sreenath},
  journal={2009 American Control Conference},
  year={2009},
  pages={2030-2036}
}
This paper introduces MABEL, a new platform for the study of bipedal locomotion in robots. One of the purposes of building the mechanism is to explore a novel powertrain design that incorporates compliance, with the objective of improving the power efficiency of the robot, both in steady state operation and in responding to disturbances. A second purpose is to inspire the development of new feedback control algorithms for running on level surfaces and walking on rough terrain. A third… CONTINUE READING
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Publications on robotics and control

  • J. Grizzle
  • www.eecs.umich. edu/∼grizzle/papers/robotics.html…
  • 2008
2 Excerpts

The electric cable differential (ECD) leg, http://www.ri. cmu.edu/projects/project 597.html

  • J. Hurst
  • August 2008.
  • 2008
1 Excerpt

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