1. Vermelding onderdeel organisatie 1 Recent Developments in Passive Dynamic Walking Robots Seminar May 13, 2005University of Nottingham, UK Laboratory for Engineering Mechanics Faculty of Mechanical Engineering Arend L. Schwab Google: Arend Schwab [I’m Feeling Lucky]

2. May 13, 20052 Acknowledgement TUdelft: Martijn Wisse Jan van Frankenhuyzen Richard van der Linde Frans van der Helm Jaap Meijaard … MSc students Cornell University: Andy Ruina Mariano Garcia Mike Coleman Insitu Group: Tad Mc Geer Collins, S., Ruina, A., Tedrake, R. and Wisse, M., 2005. ``Efficient Bipeal Robots Based on Passive-Dynamic Walkers’’, Science 307: 1082-1085

3. May 13, 20053 Contents Passive Dynamic Walkers Passive Dynamic Robots The Simplest Walker Cyclic Motion; Stability & Basin of Attraction Stability: Fore-Aft and Sideways Conclusions

4. May 13, 20054 Walking Robots -Anthropomorphic Design -Energy Efficient C t =(energy used)/(weight*distance)=0.2 Museon 2001 Mike 2002 Max 2003 Denise 2004 Stappo 1995 Bob 2000 Baps 2001

5. May 13, 20055 Passive Dynamic Walking Wire Walker by G. T. Fallis Patented in 1888. Wire Walker, Model 2002

6. May 13, 20056 Simplest Walking Model Scaling with: M, l and g and limit case: m/M -> 0 Leaves one free parameter: 

7. May 13, 20057 Walking Motion Walking Motion in Phase Plane Cyclic Motion if

8. May 13, 20058 Family of Stable Cyclic Solutions Stability of Cyclic Motion Determined by Characteristic Multipliers | |<1 But How Stable?

9. May 13, 20059 Basin of Attraction of Cyclic Motion Cyclic Motion (Fixed Point) : Poincare Section with basin of Attraction and failure modes: -falling Forward -falling Backward -Running

10. May 13, 200510 Basin of Attraction (Cont’d) Basin of Attraction: askew & enlarged

11. May 13, 200511 A few steps into the Basin of Attraction x = Cyclic Motion 1 = Start

12. May 13, 200512 Effect of the Slope on the BOA

13. May 13, 200513 Simplest Walking Robot Simplest Walker (1999): 2D, straight legs and point feet walking down a shallow slope. (copy of the 1988 Tad McGeer walker)

14. May 13, 200514 Bob: a Bipedal Robot based on Simulations Bob (2000): 3D, Flat Feet, Knees and Ankle Actuation

15. May 13, 200515 Robot with Knees, Round Feet, and Actuation Mike (2002)

16. May 13, 200516 For-Aft Stability or How to Keep from Falling Forward Swing Leg Control: ’’You will never fall forward if you put your swing leg fast enough in front of your stance leg’’ Uncontrolled Swing Leg Control

17. May 13, 200517 Adding an Upper Body Max (2003) Bisecting Hip Mechanism

18. May 13, 200518 Adding an Upper Body Max 2003 On Level Ground Self-Starting

19. May 13, 200519 Going into 3D Sideway Stability by means of Lean-to-yaw Coupling As in a Skateboard: Velocity dependent Stability

20. May 13, 200520 Going into 3D Sideway Stability by means of Lean-to-yaw Coupling Or as in a Bicycle: Velocity dependent Stability

21. May 13, 200521 Going into 3D: Denise Bisecting Hip Mechanism Tilted Ankle Joint Lean-to-yaw Coupling Upper Body

22. May 13, 200522 Going into 3D: Denise

23. May 13, 200523 Conclusions Passive Dynamic Robots: -use less control and less energy -walk more naturally. -help understand human walking.