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Kinematic Design and Dynamic Analysis of a Planar Biped Robot Mechanically Coordinated by a Single Degree of Freedom

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4 Author(s)
McKendry, J. ; Dept. of ME, Ohio State Univ., Columbus, OH ; Brown, B. ; Westervelt, E.R. ; Schmiedeler, J.P.

This paper presents a method of integrating kinematic mechanism design and hybrid system analysis for the design of a single-degree-of-freedom (DOF) planar biped robot that can achieve dynamic walking gaits that are stable. Reducing the DOF in a biped can result in a reduction of the complexity of the control strategies needed to enable stable walking. Although the biped designed by this procedure is restricted to a single gait, this biped may be less complex, lighter, and less costly to construct than one whose multiple DOF are coordinated via feedback.

Published in:

Robotics and Automation, 2007 IEEE International Conference on

Date of Conference:

10-14 April 2007

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