Design and modeling of an open platform for dynamic walking research

• Published in: 2017 IEEE International Conference on Mechatronics (ICM) pp. 85 - 92
• Main Authors: Boudali, A. Mounir, Kong, Felix H., Martinez, Javier, Tang, Justin Z., Manchester, Ian R.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.02.2017
• Subjects: Aerodynamics; Compass; control design; Dynamic walking; Hip; Legged locomotion; Servomotors; under-actuated systems

In this paper we outline the design and parameter identification of a low-cost "compass-gait" bipedal robot for dynamic walking experiments. A compass gait walker exhibits a desirable balance of complexity in the dynamics and mechanical simplicity, making it a good candidate for a physical...