Efficient Bipedal Robots Based on Passive-Dynamic Walkers

TLDR

Passive‑dynamic walkers are simple mechanical devices that walk stably down a slope without motors or controllers, producing remarkably human‑like motions, but they cannot walk on level ground, suggesting their value as models of human locomotion. The authors present three passive‑dynamic‑based robots that use small active power sources to replace gravity, enabling level‑ground walking. The robots replace gravity with small active power sources, allowing them to walk on level ground. The robots consume less control effort and energy than other powered robots while walking more naturally, underscoring the importance of passive‑dynamics in human locomotion.

Abstract

Passive-dynamic walkers are simple mechanical devices, composed of solid parts connected by joints, that walk stably down a slope. They have no motors or controllers, yet can have remarkably humanlike motions. This suggests that these machines are useful models of human locomotion; however, they cannot walk on level ground. Here we present three robots based on passive-dynamics, with small active power sources substituted for gravity, which can walk on level ground. These robots use less control and less energy than other powered robots, yet walk more naturally, further suggesting the importance of passive-dynamics in human locomotion.