The Simplest Walking Robot: A Bipedal Robot with One Actuator and two Rigid Bodies

James Kyle, Justin K. Yim, Kendall Hart, Sarah Bergbreiter, Aaron M. Johnson

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

Abstract

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.

Original languageEnglish (US)
Title of host publication2023 IEEE-RAS 22nd International Conference on Humanoid Robots, Humanoids 2023
PublisherIEEE Computer Society
ISBN (Electronic)9798350303278
DOIs
StatePublished - 2023
Externally publishedYes
Event22nd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2023 - Austin, United States
Duration: Dec 12 2023Dec 14 2023

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

Conference22nd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2023
Country/TerritoryUnited States
CityAustin
Period12/12/2312/14/23

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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