Initial conditions of a simple passive-dynamic walker

Brooke Haueisen; Greg Hudas; Greg Hulbert; Kyle Nebel

doi:10.1117/12.666075

9 May 2006 Initial conditions of a simple passive-dynamic walker

Brooke Haueisen, Greg Hudas, Greg Hulbert, Kyle Nebel

Proceedings Volume 6230, Unmanned Systems Technology VIII; 623028 (2006) https://doi.org/10.1117/12.666075
Event: Defense and Security Symposium, 2006, Orlando (Kissimmee), Florida, United States

Abstract

Walking robots hold great potential for the future of military robotics. Their natural agility in rough, unstructured terrain make them ideal for military applications but their power requirements do not. Passive dynamic walkers offer a potentially low-power solution. This class of legged robots utilize the natural inverted pendular dynamics that humans rely on to locomote. The most basic of these systems uses gravity as its power source and has no control system therefore its stability is heavily reliant on its initial conditions. The VICON Motion Capture System was used to record the motions of Coleman and Ruina's¹ TinkertoyWalker© . The initial angles and angular velocities of the various trials were extracted from the motion capture data and used as inputs to a multi-body dynamics model of the walker. The model was created to provide insight into passive-dynamic walkers and the interactions between the walker and the ground surface. Several trials were performed to quantify the stability space of the experimental walker and improve the correlation of the dynamics model to the physical robot.

Citation Download Citation

Brooke Haueisen, Greg Hudas, Greg Hulbert, and Kyle Nebel "Initial conditions of a simple passive-dynamic walker", Proc. SPIE 6230, Unmanned Systems Technology VIII, 623028 (9 May 2006); https://doi.org/10.1117/12.666075

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KEYWORDS

Motion models

Robots

Systems modeling

Data modeling

Cameras

Control systems

Defense technologies

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