ICRA 2012 Paper Abstract


Paper WeB02.5

Cotton, Sebastien (Florida Institute for Human and Machine Cognition), OLARU, IONUT MIHAI CONSTANTIN (IHMC Florida Institute For Human & Machine Cognition), bellman, matthew (ihmc), van der ven, tim (ihmc), Godowski, Johnny C (Institute for Human and Machine Cognition), Pratt, Jerry (Inst. for Human and Machine Cognition)

FastRunner: A Fast, Efficient and Robust Bipedal Robot. Concept and Planar Simulation

Scheduled for presentation during the Regular Session "Hybrid Legged Robots" (WeB02), Wednesday, May 16, 2012, 11:30−11:45, Meeting Room 2 (Chief Red Wing)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 14, 2018

Keywords Humanoid and Bipedal Locomotion, Mechanism Design of Mobile Robots, Passive Walking


Bipedal robots are currently either slow, energetically inefficient and/or require a lot of control to maintain their stability. This paper introduces the FastRunner, a bipedal robot based on a new leg architecture. Simulation results of a Planar FastRunner demonstrate that legged robots can run fast, be energy efficient and inherently stable. The simulated FastRunner has a cost of transport of 1.4 and requires only a local feedback of the hip position to reach 35.4 kph from stop in simulation.



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