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Robotic locomotion of three generations of a family tree of dynamical systems. Part I: Passive gait patterns

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Abstract

This paper includes the latest results of our research effort in developing a family of energetically efficient robots that can produce stable gait. Gravity powered bipeds provide ample proof for the possibility of designing robots that can walk using minimal energy. It is conceivable that mechanisms that are much simpler than legged robots can also produce gravity powered locomotion. In this paper, we present the results of our study of the first three generations of the family: a single mass, a two-mass, and a three-mass system. We show that these three systems can generate a rich set of passive gaits such as hopping, tapping, and walking each including various gait modes. These periodic passive gaits are sustained based on conditions for the physical parameters of the systems. We have developed a preliminary “contact based rule of passive gait patterns” that seems to work well for the first three generations of the family. We think that this rule can be extended to more complex generations of the family. The control issues are presented in Part II of this paper.

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Authors and Affiliations

  1. Mechanical Engineering Department, Southern Methodist University, 3101 Dyer Street, Suite 200, Dallas, TX, 75205, USA

    Ali Tavakoli & Yildirim Hurmuzlu

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  1. Ali Tavakoli
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  2. Yildirim Hurmuzlu
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Correspondence to Yildirim Hurmuzlu.

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Tavakoli, A., Hurmuzlu, Y. Robotic locomotion of three generations of a family tree of dynamical systems. Part I: Passive gait patterns. Nonlinear Dyn 73, 1969–1989 (2013). https://doi.org/10.1007/s11071-013-0918-4

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  • DOI: https://doi.org/10.1007/s11071-013-0918-4

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