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16 April 2008 Design of a bipedal walking robot
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We present the mechanical design of a bipedal walking robot named M2V2, as well as control strategies to be implemented for walking and balance recovery. M2V2 has 12 actuated degrees of freedom in the lower body: three at each hip, one at each knee, and two at each ankle. Each degree of freedom is powered by a force controllable Series Elastic Actuator. These actuators provide high force fidelity and low impedance, allowing for control techniques that exploit the natural dynamics of the robot. The walking and balance recovery controllers will use the concepts of Capture Points and the Capture Region in order to decide where to step. A Capture Point is a point on the ground in which a biped can step to in order to stop, and the Capture Region is the locus of such points.
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Jerry Pratt and Ben Krupp "Design of a bipedal walking robot", Proc. SPIE 6962, Unmanned Systems Technology X, 69621F (16 April 2008);

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