International Journal of Robotics Research
Passive Dynamic Biped Catalogue, 1991
The 2nd International Symposium on Experimental Robotics II
International Journal of Robotics Research
Compact analysis of 3D bipedal gait using geometric dynamics of simplified models
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Three-dimensional limit cycle walking with joint actuation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Experimental studies on passive dynamic bipedal walking
Robotics and Autonomous Systems
New joint design to create a more natural and efficient biped
Applied Bionics and Biomechanics
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Autonomous walking bipedal machines, possibly useful for rehabilitation and entertainment purposes, need a high energy efficiency, offered by the concept of ‘Passive Dynamic Walking' (exploitation of the natural dynamics of the robot). 2D passive dynamic bipeds have been shown to be inherently stable, but in the third dimension two problematic degrees of freedom are introduced: yaw and roll.We propose a design for a 3D biped with a pelvic body as a passive dynamic compensator, which will compensate for the undesired yaw and roll motion, and allow the rest of the robot to move as if it were a 2D machine. To test our design, we perform numerical simulations on a multibody model of the robot. With limit cycle analysis we calculate the stability of the robot when walking at its natural speed.The simulation shows that the compensator, indeed, effectively compensates for both the yaw and the roll motion, and that the walker is stable.