Energy-efficient control of bipedal walking robots requires both minimization of mechanical energy losses (often mainly due to impacts) and the use of natural oscillations in a mechanism to minimize actuator torques (as shown by research on passive dynamic walking). In this paper, we discuss how these aspects can be analyzed and optimized using mathematical models of the dynamics, as opposed to...

Irrespective of achieving certain success in comprehending Passive DynamicWalking (PDW) phenomena from a viewpoint of the chaotic dynamics and bifurcation scenarios, a lot of questions still need to be answered. This paper provides an overview of the previous literature on the chaotic behavior of passive dynamic biped robots. A review of a broad spectrum of chaotic phenomena found in PDW in the...

We address performance limits and dynamic behaviors of the two-dimensional passivedynamic bipedal walking mechanisms of Tad McGeer. The results highlight the role of heelstrike in determining the mechanical eÆciency of gait, and point to ways of improving eÆciency. We analyze several kneed and straight-legged walker designs, with round feet and point-feet. We present some necessary conditions o...

Abstract Legged locomotion of robots can be greatly improved by bioinspired tribological structures and applying the principles computational morphology to achieve fast energy-efficient walking. In a previous research, we mounted shark skin on belly hexapod robot show that passive anisotropic friction properties this structure enhance efficiency, resulting in stronger grip varying walking surfa...

For research into bipedal walking machines, autonomous operation is an important issue. The key engineering problem is to keep the weight of the actuation system small enough. For our 2D prototype MIKE, we solve this problem by applying pneumatic McKibben actuators on a passive dynamic biped design. In this paper we present the design and construction of MIKE and elaborate on the most crucial s...

Humans and other animals walk in a way that minimizes energy consumption. We take advantage of inertial passive dynamics and elastic energy storage and return to create a walking pattern that is extremely economical [1]. A reduction in energy consumption during walking might be achieved by supplying external mechanical power to the joints of the lower limbs. With additional mechanical power app...

The passive dynamic walker (PDW) has an interesting characteristic that it realizes cyclic locomotion without planning joint trajectories. On the other hand, the walking behavior cannot be controlled because it is dominated by the fixed body dynamics. Observing the human cyclic locomotion that is activated by elastic muscles, we adopt a compliant hip joint on PDW, and we propose the ”phasic dyn...

Applying an evolutionary algorithm, we first develop the morphology of a simulated passive dynamic bipedal walking device, able to walk down a shallow slope. Using the resulting morphology and adding minimal motor and sensory equipment, a neural controller is evolved, enabling the walking device to walk on a flat surface with minimal energy consumption. The applied evolutionary algorithm fixes ...

We introduce a detailed numerical simulation and analysis framework to extend the principles of passive dynamic walking to quadrupedal locomotion. Non-linear limit cycle methods are used to identify possible gaits and to analyze the stability and efficiency of quadrupedal passive dynamic walking. In doing so, special attention is paid to issues that are inherent to quadrupedal locomotion, such ...

It is well-known that a suitably designed unpowered mechanical biped robot can \walk" down an inclined plane with a steady periodic gait. The energy required to maintain the motion comes from the conversion of the biped's grav-itational potential energy as it descends. Investigation of such passive natural motions may potentially lead us to strategies useful for controlling active walking machi...