Incremental development of a passive-dynamics-based walking machine

Kalin Trifonov, Shuji Hashimoto

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    Passive-dynamic walkers are mechanical devices that walk down a slope without motors or controllers. In this paper we present in detail the incremental development of one such walker, the design stages we went through and its experimental results. We built a four-legged planar passivedynamic walking machine with its inner and outer legs connected rigidly two by two, making it equivalent to a biped machine in terms of dynamics. We conducted our experiments with two different knee designs: first, with a magnetic knee-locking mechanism, and the second, with a knee-locking mechanism featuring active release. Both mechanisms were designed in an attempt to create a simpler and easier to adjust knee-locking mechanism, instead of the more common knee-locking via suction cups mechanism. We conducted series of experiments in which we counted the steps the walker made while walking down an incline. We compared the results achieved with the two kneelocking mechanisms and assessed their effectiveness. The second model made an increased number of successful walks down the slope from which we concluded that the newer active release mechanism is more reliable and easy to use and set up.

    Original languageEnglish
    Title of host publication2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
    Pages584-589
    Number of pages6
    DOIs
    Publication statusPublished - 2008
    Event2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 - Bangkok
    Duration: 2009 Feb 212009 Feb 26

    Other

    Other2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
    CityBangkok
    Period09/2/2109/2/26

    Fingerprint

    Walking
    Knee
    Experiments
    Controllers
    Walkers
    Suction
    Leg
    Equipment and Supplies

    Keywords

    • Biped
    • Passive-dynamic
    • Walking

    ASJC Scopus subject areas

    • Biotechnology
    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Electrical and Electronic Engineering

    Cite this

    Trifonov, K., & Hashimoto, S. (2008). Incremental development of a passive-dynamics-based walking machine. In 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 (pp. 584-589). [4913067] https://doi.org/10.1109/ROBIO.2009.4913067

    Incremental development of a passive-dynamics-based walking machine. / Trifonov, Kalin; Hashimoto, Shuji.

    2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008. 2008. p. 584-589 4913067.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Trifonov, K & Hashimoto, S 2008, Incremental development of a passive-dynamics-based walking machine. in 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008., 4913067, pp. 584-589, 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008, Bangkok, 09/2/21. https://doi.org/10.1109/ROBIO.2009.4913067
    Trifonov K, Hashimoto S. Incremental development of a passive-dynamics-based walking machine. In 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008. 2008. p. 584-589. 4913067 https://doi.org/10.1109/ROBIO.2009.4913067
    Trifonov, Kalin ; Hashimoto, Shuji. / Incremental development of a passive-dynamics-based walking machine. 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008. 2008. pp. 584-589
    @inproceedings{83c682cd34c64ee8bb5088e519032454,
    title = "Incremental development of a passive-dynamics-based walking machine",
    abstract = "Passive-dynamic walkers are mechanical devices that walk down a slope without motors or controllers. In this paper we present in detail the incremental development of one such walker, the design stages we went through and its experimental results. We built a four-legged planar passivedynamic walking machine with its inner and outer legs connected rigidly two by two, making it equivalent to a biped machine in terms of dynamics. We conducted our experiments with two different knee designs: first, with a magnetic knee-locking mechanism, and the second, with a knee-locking mechanism featuring active release. Both mechanisms were designed in an attempt to create a simpler and easier to adjust knee-locking mechanism, instead of the more common knee-locking via suction cups mechanism. We conducted series of experiments in which we counted the steps the walker made while walking down an incline. We compared the results achieved with the two kneelocking mechanisms and assessed their effectiveness. The second model made an increased number of successful walks down the slope from which we concluded that the newer active release mechanism is more reliable and easy to use and set up.",
    keywords = "Biped, Passive-dynamic, Walking",
    author = "Kalin Trifonov and Shuji Hashimoto",
    year = "2008",
    doi = "10.1109/ROBIO.2009.4913067",
    language = "English",
    isbn = "9781424426799",
    pages = "584--589",
    booktitle = "2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008",

    }

    TY - GEN

    T1 - Incremental development of a passive-dynamics-based walking machine

    AU - Trifonov, Kalin

    AU - Hashimoto, Shuji

    PY - 2008

    Y1 - 2008

    N2 - Passive-dynamic walkers are mechanical devices that walk down a slope without motors or controllers. In this paper we present in detail the incremental development of one such walker, the design stages we went through and its experimental results. We built a four-legged planar passivedynamic walking machine with its inner and outer legs connected rigidly two by two, making it equivalent to a biped machine in terms of dynamics. We conducted our experiments with two different knee designs: first, with a magnetic knee-locking mechanism, and the second, with a knee-locking mechanism featuring active release. Both mechanisms were designed in an attempt to create a simpler and easier to adjust knee-locking mechanism, instead of the more common knee-locking via suction cups mechanism. We conducted series of experiments in which we counted the steps the walker made while walking down an incline. We compared the results achieved with the two kneelocking mechanisms and assessed their effectiveness. The second model made an increased number of successful walks down the slope from which we concluded that the newer active release mechanism is more reliable and easy to use and set up.

    AB - Passive-dynamic walkers are mechanical devices that walk down a slope without motors or controllers. In this paper we present in detail the incremental development of one such walker, the design stages we went through and its experimental results. We built a four-legged planar passivedynamic walking machine with its inner and outer legs connected rigidly two by two, making it equivalent to a biped machine in terms of dynamics. We conducted our experiments with two different knee designs: first, with a magnetic knee-locking mechanism, and the second, with a knee-locking mechanism featuring active release. Both mechanisms were designed in an attempt to create a simpler and easier to adjust knee-locking mechanism, instead of the more common knee-locking via suction cups mechanism. We conducted series of experiments in which we counted the steps the walker made while walking down an incline. We compared the results achieved with the two kneelocking mechanisms and assessed their effectiveness. The second model made an increased number of successful walks down the slope from which we concluded that the newer active release mechanism is more reliable and easy to use and set up.

    KW - Biped

    KW - Passive-dynamic

    KW - Walking

    UR - http://www.scopus.com/inward/record.url?scp=70349174331&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=70349174331&partnerID=8YFLogxK

    U2 - 10.1109/ROBIO.2009.4913067

    DO - 10.1109/ROBIO.2009.4913067

    M3 - Conference contribution

    AN - SCOPUS:70349174331

    SN - 9781424426799

    SP - 584

    EP - 589

    BT - 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008

    ER -