experimenting with passive dynamic motion

The devices shown here were created to explore aspects of regular, step-wise locomotion where the only energy input required is gravity. The first models were attempts to find a non-collision version of the "Wilson Walkie" type of ramp walker. These maintain constant surface contact and move with a rolling, non-scrubbing motion. Another goal was to see how this movement could be achieved with as few moving parts, or degrees of freedom as possible (see "single piece walker"). The hopping models demonstrate passive, persistent hopping with regulated descent down the ramp. A future goal is to incorporate this motion into a passive bipedal running robot. Please feel free to contact me with questions or comments via the email link below. Copyright © 2006 Peter Steinkamp.

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One footed walker		Rolling weight walker		Two footed rolling walker		Single foot walker with arms
Single piece walker		First hoppers		Hopper slow-mo		Small footed hopper
contact: Peter Steinkamp