Abstract:
We present the design and experimental results of the first 1-DOF, hip-actuated bipedal robot. While passive dynamic walking is simple by nature, many existing bipeds ins...Show MoreMetadata
Abstract:
We present the design and experimental results of the first 1-DOF, hip-actuated bipedal robot. While passive dynamic walking is simple by nature, many existing bipeds inspired by this form of walking are complex in control, mechanical design, or both. Our design using only two rigid bodies connected by a single motor aims to enable exploration of walking at smaller sizes where more complex designs cannot be constructed. The walker, “Mugatu”, is self-contained and autonomous, open-loop stable over a range of input parameters, able to stop and start from standing, and able to control its heading left and right. We analyze the mechanical design and distill down a set of design rules that enable these behaviors. Experimental evaluations measure speed, energy consumption, and steering.
Date of Conference: 12-14 December 2023
Date Added to IEEE Xplore: 01 January 2024
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Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, US
Department of Mechanical Science and Engineering, University of Illinois Urbana-Champaign, Urbana-Champaign, IL, USA
Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, US
Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, US
Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, US
Contents Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, US
Department of Mechanical Science and Engineering, University of Illinois Urbana-Champaign, Urbana-Champaign, IL, USA
Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, US
Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, US
Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, US
