Preserving the Planar Dynamics of a Compliant Bipedal Robot with a Yaw-Stabilizing Foot Design Public

http://ir.library.oregonstate.edu/concern/honors_college_theses/3b591b80q

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  • 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 thesis presents a solution to these two problems in a manner consistent with the exacting design philosophy of springmass walking machines. A passive, compliant, line-contact foot is proposed with only 120 grams of added mass and a fully-adjustable return mechanism.
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