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 language | English |
|---|---|
| Title of host publication | 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 |
| Pages | 584-589 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2008 |
| Event | 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 - Bangkok Duration: 2009 Feb 21 → 2009 Feb 26 |
Other
| Other | 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 |
|---|---|
| City | Bangkok |
| Period | 09/2/21 → 09/2/26 |
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Keywords
- Biped
- Passive-dynamic
- Walking
ASJC Scopus subject areas
- Biotechnology
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Electrical and Electronic Engineering
Cite this
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 proceeding › Conference contribution
}
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 -