Description:

This video presents an animation of a simulation of single-degree-of-freedom, mechanically-coordinated biped robot that has been designed using the methodology presented in "Kinematic Design and Dynamic Analysis of a Planar Biped Robot Mechanically Coordinated by a Single Degree of Freedom" (McKendry, Brown, Westervelt, Schmiedeler).  This planar biped robot can achieve dynamic walking gaits that are stable.  Reducing the DOF in a biped via mechanical coordination can result in a reduction of 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 DOF are coordinated via feedback.


Player Information:

This MPEG-1 video is compatible with any standard video player (Windows Media Player, etc.).


Contact Information:

All authors are with the Mechanical Engineering Department at The Ohio State University {McKendry.8, Brown.2225, Westervelt.4, Schmiedeler.2}@osu.edu.


Attachment filename: 1178_VI.mpg (4980736 Bytes)