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Passive dynamic walking model with upper body

Published online by Cambridge University Press:  15 November 2004

M. Wisse ,
A. L. Schwab  and
F. C. T. van der Helm
M. Wisse
Affiliation:
Biped Laboratory, Faculty of Mechanical Engineering, Delft University of Technology, Mekelweg 2, NL-2628 CD Delft (The Netherlands)
A. L. Schwab
Affiliation:
Biped Laboratory, Faculty of Mechanical Engineering, Delft University of Technology, Mekelweg 2, NL-2628 CD Delft (The Netherlands)
F. C. T. van der Helm
Affiliation:
Biped Laboratory, Faculty of Mechanical Engineering, Delft University of Technology, Mekelweg 2, NL-2628 CD Delft (The Netherlands)
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Abstract

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This paper presents the simplest walking model with an upper body. The model is a passive dynamic walker, i.e. it walks down a slope without motor input or control. The upper body is confined to the midway angle of the two legs. With this kinematic constraint, the model has only two degrees of freedom. The model achieves surprisingly successful walking results: it can handle disturbances of 8% of the initial conditions and it has a specific resistance of only 0.0725(−).

Keywords

Passive dynamic walkingBipedPassive upper body

Information

Type
Research Article
Information
Robotica , Volume 22 , Issue 6 , November 2004 , pp. 681 - 688
Copyright
© 2004 Cambridge University Press