Incremental development of a passive-dynamics-based walking machine

Kalin Trifonov, Shuji Hashimoto

    研究成果: Conference contribution

    抄録

    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.

    元の言語English
    ホスト出版物のタイトル2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
    ページ584-589
    ページ数6
    DOI
    出版物ステータスPublished - 2008
    イベント2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 - Bangkok
    継続期間: 2009 2 212009 2 26

    Other

    Other2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
    Bangkok
    期間09/2/2109/2/26

    Fingerprint

    Walking
    Knee
    Experiments
    Controllers
    Walkers
    Suction
    Leg
    Equipment and Supplies

    ASJC Scopus subject areas

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

    これを引用

    Trifonov, K., & Hashimoto, S. (2008). Incremental development of a passive-dynamics-based walking machine. : 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.

    研究成果: Conference contribution

    Trifonov, K & Hashimoto, S 2008, Incremental development of a passive-dynamics-based walking machine. : 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. : 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
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