MABEL, a new robotic bipedal walker and runner. Jessy W. Grizzle, Jonathan Hurst, Benjamin Morris, Hae-Won Park, and Koushil Sreenath. In American Control Conference (ACC), pages 2030–2036, St. Louis, MO, USA, June 2009.

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Abstract

This paper introduces {MABEL}, a new platform for the study of bipedal locomotion in robots. One of the purposes of building the mechanism is to explore a novel powertrain design that incorporates compliance, with the objective of improving the power efficiency of the robot, both in steady state operation and in responding to disturbances. A second purpose is to inspire the development of new feedback control algorithms for running on level surfaces and walking on rough terrain. A third motivation for building the robot is science and technology outreach; indeed, it is already included in tours when K-through-12 students visit the College of Engineering at the University of Michigan. MABEL is currently walking at 1.1 m/s on a level surface, and a related monopod at Carnegie Mellon is hopping well, establishing that the testbed has the potential to realize its many objectives.

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Text Reference

Jessy W. Grizzle, Jonathan Hurst, Benjamin Morris, Hae-Won Park, and Koushil Sreenath, "MABEL, a new robotic bipedal walker and runner", In American Control Conference (ACC), pages 2030–2036, St. Louis, MO, USA, June 2009.

BibTeX Reference

@conference{ACC2009,
author       = {Grizzle, Jessy W. and Hurst, Jonathan and Morris, Benjamin and Park, Hae-Won and Sreenath, Koushil},
title        = {{MABEL}, A New Robotic Bipedal Walker and Runner},
booktitle    = {American Control Conference (ACC)},
pages        = {2030-2036},
month        = jun,
year         = {2009},
address      = {St. Louis, MO, USA},
}