This work presents the mechanical human gait-based 3D bipedal walking robot. The robot mimics human walking through the push-off mechanism at the ankle, the passive knee bending mechanism, and the simple lateral balance control. To generate walking, it uses simple waveforms which are derived from human gait data. The preliminary experiment demonstrates that the robot walks stably.
Related publications
1. E Jeon, S Jo, Human gait-based bipedal walking robot design in progress, ICCAS 2010. [PDF]
This work presents a design of a thermal SMA based simple small-sized and low-weight crawling robot, mimicking the crawling motion mechanism of Caenorhabditis elegans (C. elegans). Properties of the thermal SMA are similar to those Read more…
This work investigates mechanisms for active flapping and twisting of robotic wings and assesses flying effectiveness as a function of twist angle. Unlike the flapping motion of bird wings, insects generally make a twisting motion Read more…