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U of M College of Engineering Control Seminar Series Sponsored by Ford Motor Company, General Motors, and Whirlpool |
Three Additions to Passive Dynamic Walking:
Upper body and 3D Stability
Dr. ir. Martijn Wisse
Delft University of Technology
Mechanical Engineering Department
Delft Biorobitics Laboratory
Abstract:
One of the main challenges in the
design of human-like walking robots (useful for service or entertainment
applications as well as the study of human locomotion) is to obtain dynamic
locomotion, as opposed to the static form of locomotion demonstrated by most of
the current prototypes. A promising concept is the idea of passive dynamic
walking; even completely unactuated and uncontrolled mechanisms can perform a
stable gait when walking down a shallow slope. This concept enables the
construction of dynamically walking prototypes that are simpler yet more
natural in their motions than the static bipeds.
In this presentation I present
three additions to the concept of passive dynamic walking. First, hip actuation
is added to increase the fore-aft stability and to provide power to the system,
removing the need for a downhill floor. Second, a bisecting hip mechanism is
introduced to allow the addition of a passive upper body without compromising
the simplicity, efficiency and naturalness of the concept of passive dynamic
walking. Third, skateboard-like ankle joints are implemented to provide 3D
stability. These ankles couple the unstable sideways lean motion to yaw
(steering), a kinematic coupling which provides sideways stability when walking
with sufficient forward velocity. The three additions are investigated both
with elementary simulation models and with prototype experiments. All three
prototypes demonstrate an uncannily natural and stable gait while requiring
only two foot switches and three on/off actuators.
3:30 – 4:30 p.m.