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Link to original content: https://doi.org/10.48550/arXiv.2308.08401
[2308.08401] The Simplest Walking Robot: A bipedal robot with one actuator and two rigid bodies
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Computer Science > Robotics

arXiv:2308.08401 (cs)
[Submitted on 16 Aug 2023 (v1), last revised 31 Oct 2023 (this version, v2)]

Title:The Simplest Walking Robot: A bipedal robot with one actuator and two rigid bodies

Authors:James Kyle, Justin K. Yim, Kendall Hart, Sarah Bergbreiter, Aaron M. Johnson
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Abstract:We present the design and experimental results of the first 1-DOF, hip-actuated bipedal robot. While passive dynamic walking is simple by nature, many existing bipeds inspired by this form of walking are complex in control, mechanical design, or both. Our design using only two rigid bodies connected by a single motor aims to enable exploration of walking at smaller sizes where more complex designs cannot be constructed. The walker, "Mugatu", is self-contained and autonomous, open-loop stable over a range of input parameters, able to stop and start from standing, and able to control its heading left and right. We analyze the mechanical design and distill down a set of design rules that enable these behaviors. Experimental evaluations measure speed, energy consumption, and steering.
Comments: 2023 IEEE-RAS International Conference on Humanoid Robots
Subjects: Robotics (cs.RO)
Cite as: arXiv:2308.08401 [cs.RO]
  (or arXiv:2308.08401v2 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2308.08401

Submission history

From: Aaron Johnson [view email]
[v1] Wed, 16 Aug 2023 14:41:30 UTC (12,160 KB)
[v2] Tue, 31 Oct 2023 00:01:32 UTC (12,208 KB)
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