Carnegie Mellon University > Robotics Institute > Garth Zeglin > Research
Quick Links: [Publications] [Bipeds]
Together with Christopher Atkeson I have constructed two bipedal walking robots motivated by passive-dynamic principles.
From September to December of 2005 I worked with the TU Delft Biorobotics Laboratory in the Netherlands on the design of a new walking robot.
The 3D Bow Log Hopper is an ongoing project to extend the 2D Bow Leg Hopper into a fully autonomous hopping robot. My contribution to the this work primarily took place while I was a Postdoctoral Fellow with Illah Nourbakhsh and the Toy Robots Initiative.
One spinoff of the work on the 2D Bow Leg is the development of the BOWGO (patent pending), a new kind of pogo stick that is a scaled-up, human-sized version of the Bow Leg. The prototypes have been primarily designed and tested by Ben Brown and Illah Nourbakhsh.
The SkyBot was a Toy Robots Initiative project in the summer of 2000 to develop a suspended robot. The first version of the SkyBot was constructed by Matthias Felber.
For my doctoral thesis I worked on the Planar Bow Leg Hopper, a novel hopping robot with high efficiency and natural stability. I have available some pictures of the machine, papers, and my dissertation ( [PDF, 3533K] [PS,8530K] [gzipped PS, 1938K] ).
As an undergraduate at MIT I worked with Marc Raibert and David Barrett at the MIT Leg Lab to develop the Uniroo, a one legged kangaroo robot.
The MIT Leg Lab also has their own Uniroo page.
Page revision: 2006/03/24 20:28:44.
Garth Zeglin, Robotics Institute, Carnegie Mellon University.