Scalable Minimally Actuated Leg Extension Bipedal Walker Based on 3D Passive Dynamics
Sharfin Islam,Kamal Carter,Justin Yim,James Kyle,Sarah Bergbreiter,Aaron M. Johnson,Sharfin Islam,Kamal Carter,Justin Yim,James Kyle,Sarah Bergbreiter,Aaron M. Johnson
We present simplified 2D dynamic models of the 3D, passive dynamic inspired walking gait of a physical quasi-passive walking robot. Quasi-passive walkers are robots that integrate passive walking principles and some form of actuation. Our ultimate goal is to better understand the dynamics of actuated walking in order to create miniature, untethered, bipedal walking robots. At these smaller scales ...
