This paper presents the latest results of our research effort to develop a family of energetically efficient robotic locomotors and introduce new gait patterns for them. We study a chain of mechanisms that span from the very simple to the progressively more complicated. These mechanisms can be as simple as a bouncing ball or as complex as a five link biped. This paper presents the results of our study for a three mass dynamical system. We show that this system can generate a rich set of passive gaits such as hopping, tapping, walking. We developed a nonlinear robust controller for the hybrid dynamics of three mass system that is insensitive to parameter variations of the system. The active control scheme generates the passive gaits on arbitrary ground slope angles.

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