Design of a Single-Degree-of-Freedom Biped Walking Mechanism

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dc.contributor.advisor Westervelt, Eric R.
dc.contributor.advisor Schmiedeler, James P.
dc.creator Brown, Brett C. 2006-05-22T15:25:42Z 2006-05-22T15:25:42Z 2006-06
dc.description.abstract Bipedal locomotion is of unique interest due to its implications for human pathology in terms of rehabilitation and prosthetic design. Current biped robots require multiple actuators (motors) because they have multiple degrees of freedom. Furthermore, they require complex control strategies to enable stable walking. These two characteristics have resulted in biped prototypes that are complicated, expensive, heavy, and energetically inefficient. The proposed project attempts to alleviate these problems by creating a single-degree-of-freedom kinematic mechanism that coordinates all of the robot’s movement. The findings of this research outline a systematic approach for the design of a kinematic mechanism that has femur and tibia motions that represent those of a stable biped walking gait. A mechanism is designed using this approach, and optimal mechanism parameters are described. The optimized mechanism motions are then compared to those of a biped walking gait known to be stable. It is concluded that a single-degree-of-freedom mechanism is able to reasonably produce the motions of a stable biped walking gait. en
dc.format.extent 347464 bytes
dc.format.mimetype application/pdf
dc.language.iso en_US en
dc.publisher The Ohio State University en
dc.relation.ispartofseries The Ohio State University. Department of Mechanical Engineering Honors Theses; 2006 en
dc.subject biped en
dc.subject single-degree-of-freedom en
dc.subject mechanism en
dc.subject walking biped en
dc.subject single dof en
dc.subject walking mechanism en
dc.title Design of a Single-Degree-of-Freedom Biped Walking Mechanism en
dc.type Thesis en