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Design and Construction of MIKE; a 2-D Autonomous Biped Based on Passive Dynamic Walking

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Adaptive Motion of Animals and Machines

Abstract

For research into bipedal walking machines, autonomous operation is an important issue. The key engineering problem is to keep the weight of the actuation system small enough. For our 2D prototype MIKE, we solve this problem by applying pneumatic McKibben actuators on a passive dynamic biped design. In this paper we present the design and construction of MIKE and elaborate on the most crucial subsystem, the pneumatic system. The result is a fully autonomous biped that can walk on a level floor with the same energy efficiency as a human being. We encourage the reader to view the movies of the walking results at http://dbl.tudelft.nl/.

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Author information

Authors and Affiliations

  1. Dept. of Mechanical Engineering, Delft University of Technology, Mekelweg 2, NL-2628 CD, Delft, The Netherlands

    Martijn Wisse & Jan van Frankenhuyzen

Authors
  1. Martijn Wisse
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  2. Jan van Frankenhuyzen
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Editor information

Editors and Affiliations

  1. Graduate School of Information Systems, University of Electro-Communications, 1-5-1 Chofu-ga-oka, Chofu, Tokyo, 182-8585, Japan

    Hiroshi Kimura

  2. Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Yoshida-honmachi, Sakyo-ku, Kyoto, 606-8501, Japan

    Kazuo Tsuchiya

  3. Department of Computational Science and Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8603, Japan

    Akio Ishiguro

  4. Department of Biomechatronics, Faculty of Mechanical Engineering, Technical University of Ilmenau, Pf 10 05 65, D-98684, Ilmenau, Germany

    Hartmut Witte

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© 2006 Springer-Verlag Tokyo

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Wisse, M., van Frankenhuyzen, J. (2006). Design and Construction of MIKE; a 2-D Autonomous Biped Based on Passive Dynamic Walking. In: Kimura, H., Tsuchiya, K., Ishiguro, A., Witte, H. (eds) Adaptive Motion of Animals and Machines. Springer, Tokyo. https://doi.org/10.1007/4-431-31381-8_13

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  • DOI: https://doi.org/10.1007/4-431-31381-8_13

  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-24164-5

  • Online ISBN: 978-4-431-31381-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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