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A Three-Dimensional Passive-Dynamic Walking Robot with Two Legs and Knees

Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY 14853, USAshc17{at}cornell.edu

Martijn Wisse

Man-Machine Systems and Control, Delft University of Technology, Mekelweg 2, NL-2628 CD Delft, the Netherlandsm.wisse{at}wbmt.tudelft.nl

Andy Ruina

Theoretical and Applied Mechanics, Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY 14853, USAruina{at}cornell.edu

The authors have built the first three-dimensional, kneed, two-legged, passive-dynamic walking machine. Since the work of Tad McGeer in the late 1980s, the concept of passive dynamics has added insight into animal locomotion and the design of anthropomorphic robots. Various analyses and machines that demonstrate efficient human-like walking have been developed using this strategy. Human-like passive machines, however, have only operated in two dimensions (i.e., within the fore-aft or sagittal plane). Three-dimensional passive walking devices, mostly toys, have not had human-like motions but instead a stiff legged waddle. In the present three-dimensional device, the authors preserve features of McGeer’s two-dimensional models, including mechanical simplicity, human-like knee flexure, and passive gravitational power from descending a shallow slope. They then add specially curved feet, a compliant heel, and mechanically constrained arms to achieve a harmonious and stable gait. The device stands 85 cm tall. It weighs 4.8 kg, walks at about 0.51 m/s down a 3.1-degree slope, and consumes 1.3 W. This robot further implicates passive dynamics in human walking and may help point the way toward simple and efficient robots with human-like motions.

Key Words: biped • passive dynamics • McGeer • robot • anthropomorphic • 3-D

The International Journal of Robotics Research, Vol. 20, No. 7, 607-615 (2001)
DOI: 10.1177/02783640122067561


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