A Bipedal Walking Robot with Efficient and Human-Like Gait

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Abstract
Here we present the design of a passive- dynamics based, fully autonomous, 3-D, bipedal walking robot that uses simple control, consumes little energy, and has human-like morphology and gait. Design aspects covered here include the freely rotating hip joint with angle bisecting mechanism; freely rotating knee joints with latches; direct actuation of the ankles with a spring, release mechanism, and reset motor; wide feet that are shaped to aid lateral stability; and the simple control algorithm. The biomechanics context of this robot is discussed in more detail in (1), and movies of the robot walking are available at Science On- line and http://www.tam.cornell.edu/�ruina/powerwalk.html. This robot adds evidence to the idea that passive-dynamic approaches might help design walking robots that are simpler, more efficient and easier to control.

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