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A 2-D Passive-Dynamic-Running Biped With Elastic Elements

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5 Author(s)
Dai Owaki ; Department of Electrical and Communication Engineering, Tohoku University, 980-8579 Sendai, Japan ; Masatoshi Koyama ; Shin'ichi Yamaguchi ; Shota Kubo
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This is the first study of a real physical kneed bipedal robot that exhibits passive-dynamic running (PDR), i.e., a bipedal gait with a flight phase in a device without an actuator. By carefully designing the properties of the elastic elements implemented into the hip joints and the stance legs in this device, we achieved a stable PDR consisting of 36 steps. The main contribution of this paper is the demonstration of PDR in the real world, which fully exploits the elastic mechanical properties.

Published in:

IEEE Transactions on Robotics  (Volume:27 ,  Issue: 1 )