Scalable Minimally Actuated Leg Extension Bipedal Walker Based on 3D Passive Dynamics
Published in IEEE Intl. Conference on Robotics and Automation, 2022
We present simplified 2D dynamic models of the 3D, passive dynamic inspired walking gait of a physical quasipassive walking robot. Quasi-passive walkers are robots that integrate passive walking principles and some form of actuation.
Recommended citation: Islam, Sharfin, et al. "Scalable minimally actuated leg extension bipedal walker based on 3D passive dynamics." 2022 International Conference on Robotics and Automation (ICRA). IEEE, 2022. https://www.andrew.cmu.edu/user/amj1/papers/ICRA2022_3D_Walker_Paper.pdf