Record Details
Preserving the Planar Dynamics of a Compliant Bipedal Robot with a Yaw-Stabilizing Foot Design
ScholarsArchive at Oregon State University
| Field | Value |
|---|---|
| Title | Preserving the Planar Dynamics of a Compliant Bipedal Robot with a Yaw-Stabilizing Foot Design |
| Names |
Abate, Andrew M.
(creator) Hurst, Jonathan (advisor) |
| Date Issued | 2014-07-18 (iso8601) |
| Note | Honors Bachelor of Science (HBS) in Mechanical Engineering |
| 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 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. |
| Genre | Thesis |
| Topic | spring-mass walking |
| Identifier | http://hdl.handle.net/1957/50600 |
