NDLI: Quiet (nearly collisionless) robotic walking

Content Provider	IEEE Xplore Digital Library
Author	Gomes, M.W. Ahlin, K.
Copyright Year	2015
Description	Author affiliation: Mech. Eng. Dept., Georgia Inst. of Technol., Atlanta, GA, USA (Ahlin, K.) \|\| Mech. Eng. Dept., Rochester Inst. of Technol., Rochester, NY, USA (Gomes, M.W.)
Abstract	We present a simple walking prototype that is capable of demonstrating an efficient, near-collisionless gait down a ramp. This inertia-coupled rimless wheel is able to “walk” down a 3° incline, which corresponds to a cost of transport of approximately 0.05. This is the first device designed to demonstrate the concept of collisionless walking, where energy-loss due to foot/ground collisions is minimized by matching the velocity of the foot and the ground at the moment of impact. We also present and analyze a novel torsional spring design which was used to couple the inertia device to the frame. We conjecture that walking robots based on this design will be able to exploit the concept of collisionless gaits and may be able to achieve significantly more energy-efficient walking than existing robot designs.
Starting Page	5761
Ending Page	5766
File Size	3173028
Page Count	6
File Format	PDF
e-ISBN	9781479969234
DOI	10.1109/ICRA.2015.7140006
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-05-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Springs Legged locomotion Foot Prototypes Wheels Collision avoidance
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Libarray of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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