This paper presents a method of integrating mechanism design and hybrid system analysis for the design of single-degree-of-freedom (DOF) planar biped robots that can achieve dynamic walking gaits that are stable. Reducing the DOF in a biped can result in a reduction in the complexity of the control strategies needed to enable stable walking. Although the biped designed by this procedure is restricted to a single gait, this biped may be less complex, lighter, and less costly to construct than one whose multiple DOFs are coordinated via feedback.

Issue Section:
Mechanisms and Robotics
Keywords:
design engineering, gait analysis, legged locomotion
Topics:
Design, Kinematics, Robots, Optimization, Simulation
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Copyright © 2008
 by American Society of Mechanical Engineers
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