16-311 Introduction to Robotics
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  16-311 Walking Locomotion Lab

16-311 Walking Locomotion Lab


Challenge Statement

This is an individual lab and you have two options to pursue.

Lab Goals

Linear Inverted Pendulum
  1. Derive the equations of motion for the Linear Inverted Pendulum Model.
  2. Gain exposure to non-traditional robots.
  3. Work through the challenges of creating a walking robot in simulation.
Passive Dynamic Walker
  1. Be able to describe a passive dynamic walker.
  2. Gain exporusre to non-traditional robots.
  3. Work through the challenges of creating a passive dynamic walker.

Background

Principles

You may have to combat the following while developing your machines:

Lab Requirements

Linear Inverted Pendulum Walker

Passive Dynamic Walker

Extensions

Last updated 04/27/2020 by Hannah Lyness
(c) 1999-2020: Howie Choset, Carnegie Mellon