2 Legs Robot 4

Biped Robot (FKS1)
Redesign and built the sole and lower portion of the legs. I also
repositioned the legs so that the separation become smaller,
ensure better stability. Painted the machine to make it looks more
professional. All the electronics have now been ported to
surface-mounted components platform, thus reducing the overall
weigth. The machine can now walk continuosly, albeit a little bit
shaky at times. Nevertheless I have not installed any Sensors yet.
In the process of selecting suitable Sensors and designing the
electronic circuitry. Moreover I am also upgrading the Robot's
software in my spare time.
http://pesona.mmu.edu.my/~wlkung/robot/robot.htm

Biped robot research at MEL

Walk of Meltran II. One step is 12cm and average walking speed
is about 0.5km/h. The strategy of control is to keep body height
constant at every moment of walking. This makes walking control
simpler than former walking control algorithms.
http://www.aist.go.jp/MEL/soshiki/robot/undo/kajita/biped-e.html

Mech 1.0

The mechanical design process was completed with Solidworks,
designed with only shapes that I knew were simple to machine using
extruded metals obtainable at the local hardware stores. As you can
see there are no feet, yet, but the first programming challenge will be
to write the algorithms that control each servo actuator to implement
the walking cycle.
http://www.rischenterprizes.com/mech.htm

Development of a walking robot model and its data-based
modeling and control

Walking robots offer challenging problems in the field of system
modeling and control. The mechanical structures of the walkers
are usually complex, being composed of many joint-connected
parts which impact also with the surrounding environment.
Therefore the mathematical models easily appear to be highly
nonlinear and high-dimensional preventing the effective use of
traditional modeling and control methods.
http://www.control.hut.fi/Publications/Haavisto-2004/

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2 Legs Robot 3

HR-V1
The framework of the robot is made of 3mm acryl-sheets where
the different parts got cut out. Alltogether there are 14 servos,
but only 12 degrees of freedom (DOF). In the hip, two servos per
leg are working together in one movement
http://www.austrobots.com/

Spring Turkey

Spring Turkey was designed and built by Peter Dilworth and Jerry
Pratt in 1994. It has an actuated hip and knee on each leg.
An unactuated boom constrains Spring Turkey's roll, yaw, and
lateral motion thereby reducing it to a two dimensional robot.
All of Spring Turkey's motors are located in its upper body, with
power being transmitted to the joints via cable drives. Series
Elastic Actuation is employed at each degree of freedom, allowing
for accurate application of torques and a high degree of shock
tolerance. The maximum torque that can be applied to the hips is
approximately 12 Nm while approximately 18 Nm can be applied
to the knees. The force control bandwidth we achieve is approximately
20 Hz. Spring Turkey weighs in at approximately 22 lbs (10 kg) and
stands 2 ft (60 cm) tall.
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RunBot

RunBotRunBot is a biomechatronic design. It has achieved a relative
walking speed of 3.5 leg-lengths per second, which is much faster
than the current world record of biped walking robots, 1.5 leg-lengths
per second, and is even comparable to the fastest relative speed of
human walking. Unlike other biped robots using various model-based
controllers, RunBot's mechanical structure is directly driven by
motor-neurons of its neuronal controller, which is analogous to what
happens in human and animals' walking. In summary, neural
computation and physical computation work together to generate
RunBot's fast and adaptive walking gaits.
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2 Legs Robot 4

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2 Legs Robot 2

Bipedal Autonomous Robot BARt-UH

Each leg of BARt-UH is composed of three joints, the hip joint,
the knee and the ankle resulting for a total of six degrees of freedom
for the robot. The motion of BARt-UH is restricted to the sagittal
plane. BARt- UH is able to perform statically and dynamically stable
walking. The power supply for autonomous walking, as well as
the power circuits for driving the joints reside on top of the robot.
http://www.irt.uni-hannover.de/irt/asr/bart_alt-en.html

The UNH Biped Robot

The biped hardware developed at UNH is shown above. The goal
of the ongoing ARPA/ONR sponsored research is to develop
strategies for the control of static and dynamic balance during two
legged walking based on a hierarchy of simple gait oscillators,
PID controllers and neural network learning, but requiring no
detailed dynamic models.
http://www.ece.unh.edu/robots/robotour.htm

LISA

LISA has twelve active degrees of freedom. All axes are actuated
by DC motors with harmonic drive gears and are equipped with
incremental encoders for the servo control feedback. Each leg has
two rotatory degrees of freedom (DOF) in the ankle, a revolute
joint in the knee and a ball-and-socket-like hip joint with three rotatory
DOF. The hip has been built as a spherical parallel manipulator
(see below). Thus, the legs are lightweight, quick and have nearly
the workspace (region of movability) of a human leg.
http://www.irt.uni-hannover.de/irt/asr/lisa-en.html

2 Legs Robot 3

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2 Legs Robot 1

Bipedal walking robot

The DOF is 10 at this point. Some kind of parallel link mechanism is
applied to the joint of the ankle. The shape of the contact to
the ground is changed from line to plane. The robot could get to walk
statically with this modification. But the servos are broken from over
load. It seems that the torque was not enough to support the weight
of the robot.
http://www2.plala.or.jp/k_y_yoshino/2legs1/2legs1_top_e.html

Bipedal Walking Robot Lucy

The goal of this project is to create a lightweight biped which is able
to walk in a dynamical stable way. The configuration of this biped is
anthropomorphic focusing on the lower walking part which is
composed of two articulated legs. The robot, all included, weighs
about 30 kg and is 150cm tall. This robot is restricted to move only
in the sagittal plane due to it’s one dimensional joints of which each
of them are powered by an antagonistic pair of Pleated Pneumatic
Artificial Muscles. These muscles are lightweight pneumatic actuators
which work at low pressures and can be directly coupled without
complex gearing mechanisms. The adaptable passive behaviour
of these actuators will be exploited in the walking algorithms.
http://lucy.vub.ac.be/gendescription.htm

NUSBIP

NUSBIP is a lif-sized humanoid robot with 20 degrees-of-freedom
(DOFs) in total. It has 6 DOF on each leg and 5 DOF on each arm.
It was modelled after the size of a 10-year old child. This robot is
built to serve as a test bed for research on bipedal walking.
http://guppy.mpe.nus.edu.sg/legged_group/index.htm

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2 Legs Robot 2

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