Abstract
Purely passive walkers (Chapter 2) and our first prototype Baps (Chapter 3) can walk efficiently, but they fall too easily. Now it is time to do something about it. The tools are here: we now have knowledge of passive dynamic walking and we have a way of actuating these walkers with pneumatic McKibben muscles. How can the actuation be used to enhance the stability of the walking motion? This chapter will provide an answer, first by analyzing the stability of an unactuated model, followed by an implementation of hip actuation both in an elementary simulation model and in the prototype ‘Mike’ (Fig. 4.1) that was built for this purpose. The content of this chapter is based on two of our papers [141, 184], © 2005 IEEE, reprinted with permission.
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© 2007 Springer-Verlag Berlin Heidelberg
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(2007). Mike; How to Keep from Falling Forward. In: Delft Pneumatic Bipeds. Springer Tracts in Advanced Robotics, vol 34. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-72808-5_4
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DOI: https://doi.org/10.1007/978-3-540-72808-5_4
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-72807-8
Online ISBN: 978-3-540-72808-5
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