A bipedal walking robot uses a quasi-passive control scheme and a simplified mechanical design. The walking robot has a pair of legs connected to a body through a passive hip joint, which is offset from a center of gravity of the walking robot. A nonconcentric, curved foot is attached at to each leg by a prismatic joint. Extension and retraction of the prismatic joint initiates the walking sequence of the robot, with each foot retracted during the swing phase and extended during the stance phase. Directional changes are controlled by changing a phase offset in the actuation of each foot.


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    Title :

    THREE-DIMENSIONAL PASSIVE WALKING ROBOT


    Contributors:
    JOHNSON AARON (author) / BERGBREITER SARAH (author) / CARTER KAMAL (author) / ISLAM SHARFIN (author) / YIM JUSTIN (author) / KYLE JAMES (author)

    Publication date :

    2024-04-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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