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Proceedings Paper

Initial conditions of a simple passive-dynamic walker
Author(s): Brooke Haueisen; Greg Hudas; Greg Hulbert; Kyle Nebel
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Paper Abstract

Walking robots hold great potential for the future of military robotics. Their natural agility in rough, unstructured terrain make them ideal for military applications but their power requirements do not. Passive dynamic walkers offer a potentially low-power solution. This class of legged robots utilize the natural inverted pendular dynamics that humans rely on to locomote. The most basic of these systems uses gravity as its power source and has no control system therefore its stability is heavily reliant on its initial conditions. The VICON Motion Capture System was used to record the motions of Coleman and Ruina's1 TinkertoyWalker© . The initial angles and angular velocities of the various trials were extracted from the motion capture data and used as inputs to a multi-body dynamics model of the walker. The model was created to provide insight into passive-dynamic walkers and the interactions between the walker and the ground surface. Several trials were performed to quantify the stability space of the experimental walker and improve the correlation of the dynamics model to the physical robot.

Paper Details

Date Published: 9 May 2006
PDF: 9 pages
Proc. SPIE 6230, Unmanned Systems Technology VIII, 623028 (9 May 2006); doi: 10.1117/12.666075
Show Author Affiliations
Brooke Haueisen, Univ. of Michigan (United States)
Greg Hudas, US Army RDECOM/TARDEC (United States)
Greg Hulbert, Univ. of Michigan (United States)
Kyle Nebel, US Army RDECOM/TARDEC (United States)

Published in SPIE Proceedings Vol. 6230:
Unmanned Systems Technology VIII
Grant R. Gerhart; Charles M. Shoemaker; Douglas W. Gage, Editor(s)

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