3 accepted papers
In this paper, we investigated how the stiffness and damping properties of soft robotic feet affect the stability and energetic economy of bipedal robotic walking. To this end, we manufactured four different spherical feet from the following materials: hollow rubber, Sorbothane, Norsorex, and Neopre…
This paper introduces RAMone, a series-elastic planar biped with knees, built to study the energetics of bipedal locomotion. RAMone is designed to achieve versatile, economical motion using lightweight legs with highly compliant joints. To demonstrate the hardware, we present a virtual-model control…
Before designing a controller in detail, we ask this question: for a given robot state, and every possible control action, what is the minimum number of steps needed to get to a given target state (if it is possible to do so)? Our biped model is a 2D inverted pendulum with massless legs. We have two…