Gravity Powered Locomotion and Active Control of Two Simple Systems

摘要

The goal of this research is to develop energetically efficient robots that can produce stable gait. One cannot ignore the promise of robots that can walk by using very little energy. Gravity powered bipeds provide ample proof that this is possible. It is conceivable that mechanisms that are much simpler than legged robots can also produce gravity powered locomotion. It is also plausible that one can get deeper understanding of the dynamics of such simple mechanisms. In addition, evolutionary biology tells us that one can learn a great deal by studying the hereditary traits of organisms that evolve over generations. Thus, we study a chain of mechanisms that span from the very simple to the progressively more complicated. Each member derived from the previous one by making well defined incremental changes. Hence, our goal is to generate a family of planar mechanisms, with members that can be as simple as a bouncing ball or as complex as a five link biped. This presentation will be the first step of this study.