Design of a Dynamically Stable Horizontal Plane Runner

Jacob Shill1, Bruce Miller1, John Schmitt2, and Jonathan Clark1
1Department of Mechanical Engineering
FAMU & FSU College of Engineering, Tallahassee, FL
2School of Mechanical, Industrial, and Manufacturing Engineering
Oregon State University, Corvallis, OR, USA

Abstract

This paper describes the development of a horizontal-plane dynamic running robot based on a reduced order locomotion model, the Lateral-Leg Spring (LLS) model. Contributions include the development of a scaled, actuated, distributed mass simulation of the model, control approaches to compensate for physical and motor limitations, and the design and fabrication of bipedal running robot that instantiates the horizontal plane dynamics of the LLS model.