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Design of running-man, a bipedal robot


This thesis presents the design of the running man robot. The primary motivation behind the work is to create a platform for research into bipedal running motion. Running robots have been built before, but most of them relied on the sheer power of actuators- electric motors, pneumatic motors, and hydraulic motors. This thesis details a design of hopping robot that incorporates electric motors, torsion springs and extension springs. Torsion springs are mounted in parallel to the motor control. To improve the functionality of robot as a hopping test-bed, each torsion spring was designed with controllable bias. Furthermore, ankle of the robot was designed for better storing kinetic energy while minimizing vibration. The robot was designed to mimic the hopping and running gaits of human and animal in planner motion. Ideas of self balancing was thought to be possible but was not incorporated in time

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