Adding an upper body to passive dynamic walking robots by means of a bisecting hip mechanism

  • Wisse M
  • Hobbelen D
  • Schwab A
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Passive dynamic walking is a promising idea for the development of simple and efficient two-legged walking robots. One of the difficulties with this concept is the addition of a stable upper body; on the one hand, a passive swing leg motion must be possible, whereas on the other hand, the upper body (an inverted pendulum) must be stabilized via the stance leg. This paper presents a solution to the problem in the form of a bisecting hip mechanism. The mechanism is studied with a simulation model and a prototype based on the concept of passive dynamic walking. The successful walking results of the prototype show that the bisecting hip mechanism forms a powerful ingredient for stable, simple, and efficient bipeds

Author-supplied keywords

  • Biped
  • Bisecting hip
  • Passive dynamic walking
  • Upper body

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  • Martijn Wisse

  • Daan G.E. Hobbelen

  • Arend L. Schwab

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