Five-Link Planar Bipedal Running Mechanism
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Publisher:The Ohio State University
Series/Report no.:The Ohio State University. Department of Mechanical Engineering Honors Theses; 2007
This paper reports the results of many projects undertaken in the support of a five-link planar biped walking machine. The primary function of this research is to assist in the development of various walking gaits by addressing ongoing mechanical design issues pertaining to the planar biped, ERNIE. Experimentation is also a cornerstone of this research. This research focuses on difficulties confronted in the progression from ground walking to treadmill walking. The transfer of experience based knowledge gained from the work done with the biped walking mechanism is a main concern of this thesis. Advisor: James Schmiedeler
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