A low-cost bipedal walking robot kit with limited actuation and sensing capabilities was designed and built to achieve actively powered, passive dynamic walking locomotion over level ground. The walking system is composed of readily available parts and materials totaling less than $50 and can be assembled either from plans or pre-fabricated parts in less than a day. Indeed, the very first (and ...

Since the pioneering work of McGeer in the late 1980s, the concept of passive dynamic walking (hereafter PDW) has been attracting lots of attention in the field of legged robots 1) A significant feature of PDW robots is that they have no control system; they merely exploit their intrinsic mechanical dynamics carefully designed, and show surprisingly natural and human-like walking on a gentle sl...

Active joint torques are the primary source of power and control in dynamic walking motion. However the amplitude, rate, timing and phasic behavior of the joint torques necessary to achieve a natural and stable performance are difficult to establish. The goal of this study was to demonstrate the feasibility and stable behavior of an actively controlled bipedal walking simulation wherein the nat...

The biped robots have higher mobility than conventional wheeled robots, especially when moving on rough terrains, up and down slopes and in environments with obstacles. The geometry of the biped robot is similar to the human beings, so it is easy to adapt to the human life environment and can help the human beings to finish the complex work. With the development of the society, the needs for ro...

This work consists in analyzing and controlling the walk of compass-type bipedal walker order to stabilize its passive dynamic gait. The walking compass-gait is modeled by an impulsive hybrid nonlinear system. nature considered very complex as it can generate unwanted phenomena such chaos bifurcations. We show first means bifurcation diagrams varying slope angle surface also length lower leg se...

Abstract The 2D motion of a rigid rimless wheel on an inclined plane has been widely studied as first simple case passive walker. Usually, it is modelled hybrid dynamical system alternating continuous smooth phases and discrete impact ones. As in other bipedal walkers, the related research often devoted to analysis cyclic motions assumes that spoke-ground collision single-point one. This work f...