BioRobotics and
Locomotion Lab (a.k.a. The
Human Power, Biomechanics, and Robotics
Lab), 306 Kimball Hall, Cornell, 607-255-7108.
Students present and past; ideas for
undergraduate or M-Eng projects; report
guidelines; Publicity about the Lab
Robots & papers
Straight-legged passive-dynamic walker (1992): Cornell's first walking robot,
ball-point pen mechanism.
Simplest passive walker (1996): Theory of simplest possible passive-dynamic
walking machine.
McGeer-like passive 2D 4-leg `bipeds' (1995-98): Reproduces McGeers machines,
extends his theory.
2-leg passive bipeds with knees (1998-2001): Most naturally-walking passive robots.
Tinkertoys (1997-2001): Walks but can't stand still. Experiments and theory.
Powered biped (2003): Perhaps the most efficient and most natural walking powered
robot
in the world.
Brachiating robots (98-2004): Coleman's tinkertoy monkeys, Gomes perectly efficient
simulations.
Biomechanics experiments
Energy of walking and the non-uniqueness of the frequency-speed relations (2000-2004).
Effect of inertia on energy of pedaling (1992).
Biomechanics, locomotion and and robotics theory
Zero-energy walking at finite speed (2003-2004): Gomes simulations
Zero-energy many-DOF brachiation (ape swinging) (2001-2004): Gomes simulations
Zero-energy massive-foot hopping
Leg sequencing in horse galloping (2001-2004)
Nonholonomic Dynamics (walking,
even in 2D, is non-holonomic and can inheret some stability from such)
Rimless wheel in 3D
Rowing mechanics (rowing
simulator, simple theoretical models of rowing)
Collision mechanics (theory
of so called rigid-body collisions)
Bicycle mechanics (especially
equations describing stability)
Friction mechanics (state
variable friction, stability, and sliding hockey pucks)
Fracture Mechanics (Why
is there a dominant K term?, fracture of fluid saturated porous media)