A Bipedal Walking Robot with Efficient and Human-Like Gait

Collins, Susan M.; Ruina, Andy

doi:10.1109/robot.2005.1570404

Cited by 295 publications

(207 citation statements)

References 12 publications

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“…The relevance of this idea has become apparent with the seminal work of Tad McGeer [24] who built self-stabilizing passive mechanisms which could walk down a slope in the absence of control. Since then, many other robots have been developed demonstrating how well-designed morphologies can lead to reduction in control requirements and improved efficiency [25][26][27].…”

Section: Actuation Challengesmentioning

confidence: 99%

Mechatronic Design of a New Humanoid Robot with Hybrid Parallel Actuation

Santos

Moreira

Silva

2012

International Journal of Advanced Robotic Systems

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Humanoid robotics is unquestionably a challenging and long-term field of research. Of the numerous and most urgent challenges to tackle, autonomous and efficient locomotion may possibly be the most underdeveloped at present in the research community. Therefore, to pursue studies in relation to autonomy with efficient locomotion, the authors have been developing a new teen-sized humanoid platform with hybrid characteristics. The hybrid nature is clear in the mixed actuation based on common electrical motors and passive actuators attached in parallel to the motors. This paper presents the mechatronic design of the humanoid platform, focusing mainly on the mechanical structure, the design and simulation of the hybrid joints, and the different subsystems implemented. Trying to keep the appropriate human proportions and main degrees of freedom, the developed platform utilizes a distributed control architecture and a rich set of sensing capabilities, both ripe for future development and research.

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Section: Actuation Challengesmentioning

confidence: 99%

Mechatronic Design of a New Humanoid Robot with Hybrid Parallel Actuation

Santos

Moreira

Silva

2012

International Journal of Advanced Robotic Systems

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“…Typically, passive dynamic walkers have no actuator and walk down slopes utilizing the gravity. Some walking systems based on passive dynamic walkers, however, can efficiently walk on a horizontal surface, by adding actuators and batteries to the walkers [3][4][5][6][7]. A thermal walker, which is to be dealt with in this article, is categorized into such a kind of mechanism [8].…”

Section: Introductionmentioning

confidence: 99%

Prototyping a thermal walker that can walk on a hot horizontal surface with a simple gait

Nemoto

Yamamoto

2018

Robomech J

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This article reports on a newly designed thermal walker that can walk on a hot horizontal surface without any motor or battery. The walker converts heat energy from the hot surface into mechanical motion by using bimetal sheets. The prototype developed in the previous study successfully demonstrated walking, but its gait was not ideal; a leg swings forward and backward a few times to achieve one step. This article designs a new walker to realize more natural walking, in which a leg simply swings forward once in each step. For this purpose, the article introduces a new design process to better estimate the swing period. Also, material used for the feet of the walker is reconsidered to realize stable continuous walking. The newly fabricated prototype has aluminum feet and can walk on a hot horizontal surface with the simple gait. The surface temperature required for walking was 110 °C, which was considerably lowered from that in the previous study, which was 170 °C.

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“…Jun and Krovi (2004) examined and evaluated a two DOF four leg-wheel subsystem. In (Collins & Ruina, 2005), the authors presented a five DOF design for a three dimensional bipedal walking robot with human-like morphology and gait. Yavin (2002) considered the modeling and control of a three DOF walking four-bar open chain linkage robot.…”

Section: Introductionmentioning

confidence: 99%

Biomimetic Design of a Single DOF Stephenson III Leg Mechanism

Batayneh¹,

Al-Araidah²,

Malkawi³

2013

MER

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The article presents a single degree-of-freedom (DOF) Stephenson III mechanical reproduction of the shape and movement of the human leg. Type and motion synthesis of the mechanism are achieved through qualitative and interactive design heuristics. Qualitative considerations include the slim straight shape of the human leg to help keeping the center of mass of the body far from ground. Moreover, the driving force and controllers of the walking apparatus are located within the upper part of the leg. We utilize Working Model software package to test and tune the segments of the mechanism to arrive at the desired walking gait. The resulting mechanism is a reproduction of the human walking apparatus with minimum control.

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A Bipedal Walking Robot with Efficient and Human-Like Gait

Cited by 295 publications

References 12 publications

Mechatronic Design of a New Humanoid Robot with Hybrid Parallel Actuation

Mechatronic Design of a New Humanoid Robot with Hybrid Parallel Actuation

Prototyping a thermal walker that can walk on a hot horizontal surface with a simple gait

Biomimetic Design of a Single DOF Stephenson III Leg Mechanism

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