Title: Dynamic Walking with Dribbel Design and Construction of a Passivity-Based Walking Robot
Abstract: This article describes the design and construction of Dribbel, a passivity-based walking robot. The robot has been designed and built at the Control Engineering group of the University of Twente. The current version of the robot can be seen in Figure 1. Passivity-based walking, or dynamic walking, is an approach to walking research focused primarily on the dynamics of the mechanical system used for walking; control and actuation come second. This article focuses on the practical side: the design approach, construction, electronics, and software design. After a short introduction of dynamic walking, the design process, starting with simulation, will be discussed. Dynamic Walking Tad McGeer started this field of research in the early 1990s with the design of totally passive (unactuated) mechanical walking constructions. His walkers were able to walk down a shallow slope without any form of active control or actuation. Based on the same dynamics principles, actuated (but still underactuated) walkers are being built today. These walkers can walk stably on a flat floor. Dribbel, the walker that is decribed here, has five joints, one of which is actuated. Simulation A number of simulation models preceded the working robot.
Publication Year: 2006
Publication Date: 2006-01-01
Language: en
Type: article
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Cited By Count: 2
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