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Science 18 February 2005:
Vol. 307. no. 5712, pp. 1082 - 1085
DOI: 10.1126/science.1107799
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Reports

Efficient Bipedal Robots Based on Passive-Dynamic Walkers

Steve Collins,1 Andy Ruina,2* Russ Tedrake,3 Martijn Wisse4

Passive-dynamic walkers are simple mechanical devices, composed of solid parts connected by joints, that walk stably down a slope. They have no motors or controllers, yet can have remarkably humanlike motions. This suggests that these machines are useful models of human locomotion; however, they cannot walk on level ground. Here we present three robots based on passive-dynamics, with small active power sources substituted for gravity, which can walk on level ground. These robots use less control and less energy than other powered robots, yet walk more naturally, further suggesting the importance of passive-dynamics in human locomotion.

1 Mechanical Engineering, University of Michigan, Ann Arbor, MI 48104, USA.
2 Theoretical and Applied Mechanics, Cornell University, Ithaca, NY 14853, USA.
3 Brain and Cognitive Sciences and Center for Bits and Atoms, Massachusetts Institute of Technology, Cambridge, MA 02139, USA.
4 Mechanical Engineering, Delft University of Technology, NL-2628 CD Delft, Netherlands.

* To whom correspondence should be addressed. E-mail: ruina{at}cornell.edu

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THIS ARTICLE HAS BEEN CITED BY OTHER ARTICLES:
Controlling the Walking Speed in Limit Cycle Walking.
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The International Journal of Robotics Research 27, 989-1005
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Stable Running with Segmented Legs.
J. Rummel and A. Seyfarth (2008)
The International Journal of Robotics Research 27, 919-934
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Ankle Actuation for Limit Cycle Walkers.
D.G.E. Hobbelen and M. Wisse (2008)
The International Journal of Robotics Research 27, 709-735
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Stability and Variability: Indicators for Passive Stability and Active Control in a Rhythmic Task.
K. Wei, T. M. H. Dijkstra, and D. Sternad (2008)
J Neurophysiol 99, 3027-3041
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Learning to Move in Modular Robots using Central Pattern Generators and Online Optimization.
A. Sproewitz, R. Moeckel, J. Maye, and A. J. Ijspeert (2008)
The International Journal of Robotics Research 27, 423-443
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Self-Organization, Embodiment, and Biologically Inspired Robotics.
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Passive Stability and Active Control in a Rhythmic Task.
K. Wei, T. M. H. Dijkstra, and D. Sternad (2007)
J Neurophysiol 98, 2633-2646
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The up and down bobbing of human walking: a compromise between muscle work and efficiency.
F. Massaad, T. M. Lejeune, and C. Detrembleur (2007)
J. Physiol. 582, 789-799
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Predicting the energy cost of terrestrial locomotion: a test of the LiMb model in humans and quadrupeds.
H. Pontzer (2007)
J. Exp. Biol. 210, 484-494
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Mechanics of dog walking compared with a passive, stiff-limbed, 4-bar linkage model, and their collisional implications.
J. R. Usherwood, S. B. Williams, and A. M. Wilson (2007)
J. Exp. Biol. 210, 533-540
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Resilient Machines Through Continuous Self-Modeling..
J. Bongard, V. Zykov, and H. Lipson (2006)
Science 314, 1118-1121
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Optimal Mass Distribution for Passivity-Based Bipedal Robots.
J. Hass, J. M. Herrmann, and T. Geisel (2006)
The International Journal of Robotics Research 25, 1087-1098
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Controlling the Walking Period of a Pneumatic Muscle Walker.
T. Takuma and K. Hosoda (2006)
The International Journal of Robotics Research 25, 861-866
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Intersegmental Coordination During Human Locomotion: Does Planar Covariation of Elevation Angles Reflect Central Constraints?.
H. Hicheur, A. V. Terekhov, and A. Berthoz (2006)
J Neurophysiol 96, 1406-1419
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A STEP FORWARD FOR LOCOMOTOR MECHANICS.
T. Roberts (2005)
J. Exp. Biol. 208, 4191-4192
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Science. ISSN 0036-8075 (print), 1095-9203 (online)