Compilation Video of the Walking Robot: The robot takes several walks across level ground.
A robot wrangler first launches the robot, to give it proper initial conditions.
The robot then proceeds with a dynamic gait, arising primarily from the passive interactions between the limbs and gravity.
To restore energy lost at the heel-strike collision, a small amount of energy is added by ankle push-off at the beginning of each step (visible in the slow-motion segments).
The ankle is driven by springs, which are slowly stretched by a small motor during the rest of the stride.
The knees are locked in place by a latch during stance, but otherwise swing freely.
The hips swing freely throughout gait.
Arms are rigidly attached to the contralateral legs, and counteract the angular momentum of the legs.This robot is more energy-effective than any other walking robot that we know of.
It consumes only 11 Watts of electricity on average, resulting in a cost of transport of 0.2 Joules per meter traveled per Newton of body weight.See attached articles for more details.
Developed by Steve Collins and Andy Ruina at Cornell University.
Videos by Steve Collins, compilation by Andy Ruina.
Download: MOV (9 MB).