A low-cost, actuated passive dynamic walker kit for accessible research and education

Abstract

A low-cost bipedal walking robot kit with limited actuation and sensing capabilities was designed and built to achieve actively powered, passive dynamic walking locomotion over level ground. The walking system is composed of readily available parts and materials totaling less than $50 and can be assembled either from plans or pre-fabricated parts in less than a day. Indeed, the very first (and only) prototype was conceived and built in one day, and capable of walking within two more. In place of components utilized for the prototype shown and demonstrated, alternative parts and materials can be substituted and accommodated by relatively simple design changes, allowing this robot construction to be adapted to different resource availability, in some cases key to the success of research or education.