C. Fuller

Toward a Bipedal Robot with Variable Gait Styles: Sagittal Forces Analysis in a Planar Simulation and a Prototype Ball-Tray Mechanism

Variable walking styles in bipedal robots may be used to communicate information about purpose and/or personality to human viewers- and may also help accommodate features of the environment. This paper presents variable gait in a simulation and results from a hardware prototype for gravity-driven ro…