TY - GEN
T1 - The Simplest Walking Robot
T2 - 22nd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2023
AU - Kyle, James
AU - Yim, Justin K.
AU - Hart, Kendall
AU - Bergbreiter, Sarah
AU - Johnson, Aaron M.
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - 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.
AB - 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.
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U2 - 10.1109/Humanoids57100.2023.10375230
DO - 10.1109/Humanoids57100.2023.10375230
M3 - Conference contribution
AN - SCOPUS:85182925381
T3 - IEEE-RAS International Conference on Humanoid Robots
BT - 2023 IEEE-RAS 22nd International Conference on Humanoid Robots, Humanoids 2023
PB - IEEE Computer Society
Y2 - 12 December 2023 through 14 December 2023
ER -