Dynamic Walking with Dribbel Design and Construction of a Passivity-Based Walking Robot

摘要

This article describes the design and construction ofDribbel, a passivity-based walking robot. The robothas been designed and built at the Control Engineering group of the University of Twente. The current version of the robot can be seen in Figure 1. Passivity-based walking, or dynamic walking, is an approach to walking research focused primarily on the dynamics of the mechanical system used for walking; control and actuation come second. This article focuses on the practical side: the design approach, construc-tion, electronics, and software design. After a short introduc-tion of dynamic walking, the design process, starting with simulation, will be discussed. Dynamic Walking Tad McGeer started this field of research in the early 1990s with the design of totally passive (unactuated) mechanical walking constructions. His walkers were able to walk down a shallow slope without any form of active control or actua-