Design and Philosophy of the BiMASC, a Highly Dynamic Biped

This paper discusses the design principles and philosophy of the BiMASC, a biped with mechanically adjustable series compliance which incorporates tuned mechanical leg springs. This robot will be capable of dynamic running using mechanical leg springs, as well as dynamic ballistic walking with human-like passive leg swing behavior. The BiMASC will enable the study of the role of both controllable compliance in running and will serve as a test platform for control strategies that utilize the leg springs and other natural dynamics of the robot. The mechanism is designed to behave in a dynamically "clean" manner, such that relatively simple mathematical models will accurately predict the robot's behavior. The availability of simple and accurate mathematical models will facilitate the design of controllers, accurate simulations, and the implementation of accurate model-based control on the robot.

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