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Filtering by: Alternative title ssim Technical note no. 249 Creator Abate, Andrew M. Degree Name Honors Bachelor of Science (H.B.S.)

Preserving the Planar Dynamics of a CompliantBipedal Robot with a Yaw-Stabilizing Foot Design

Creator:

Abate, Andrew M.

Abstract:

The ATRIAS agile humanoid robot, along with a number of other spring-mass walking machines, currently have two instabilities: one resulting from inertial forces on the torso which cause the robot to spin like a top, and another resulting from stiff ground collisions which cause chattering of the point-contact toes. This...

Resource Type:

Honors College Thesis

Full Text:

thumb to prevent this: the foot stiffness must be no more than five times the stiffness of the leg [4