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Compliant and Robotic Systems (CARS) |
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Comply for the right reasons! |
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Understanding gaits of different living beings in nature, especially humans, has been a fascinating subject of research in robotics. We have analyzed and implemented an in-house designed 8-DOF biped that can walk on flat terrain and climb stairs with deformation at the sole. We find that the energy required for walk on flat ground with deformed sole and correction of deformation at the ankle is least compared to the walks with (i) no sole deformation and (ii) with deformed sole and no correction for ankle deformation. |
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Biped Design |
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Journals (1) |
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Journals (2) |
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An eight DOF Biped developed in-house |
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Energy optimal gait of the free leg—the foot traverses an ‘S’ shaped trajectory |
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Energy optimal gait of the free leg— stair climbing |