Human Assisted Walking Machine

The goal was to invent a machine that could successfully maneuver heavy loads in isolated areas for extended periods of time. This translated into a number of design specifications, the first being to limit the number of actuators and sensors and thereby increasing the robustness of the robot. Another was that the machine had to be self-contained, in other words it had to carry its own energy supply and controller. We also want to reduce the complexity of autonomous walking robots by involving the human in the operation of the machine. By taking advantage of the intelligence of the operator, the complexity of bipedal locomotion was reduced to tractable problem. The result of this research is that a two-legged, single actuated degree of freedom, walking machine was designed, built, and tested. The robot successfully navigated terrain including steep inclines and stairs. Additionally, a mechatronic control system was added to provide for smooth speed control and regulation.


Movies:

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Walking Up and Down Stairs

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