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Passive-dynamic walkers are mechanical devices that walk down a slope without motors or controllers. In this paper we present in detail the incremental development of one such walker, the design stages we went through and its experimental results. We built a four-legged planar passive-dynamic walking machine with its inner and outer legs connected rigidly two by two, making it equivalent to a biped...
Passive-dynamic walkers are mechanical devices that can walk down a slope without motors or controllers. Here we present a design improvement to the construction of these machines. We have built a classical passive-dynamic walking machine, but we have replaced the original suction cups knee-locking mechanism with two new designs: one with passive magnetic lock, and another that features an active...
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