Research

We use mechanics ideas to study human and robotic motion - locomotion in particular. We hope that our work can help diagnosis and rehabilitation of people with movement disorders, robotic control, the understanding of coordination in general and, indirectly, engineering education.

This research has been supported by various NSF grants since 1984.

Topics

Locomotion and robotics

Robots

Cornell ranger • Efficient powered biped • 3-D Kneed passive biped • Tinkertoy walker • 4 Legged passive biped (McGeer copy)

Papers

Efficiency of 2-D passive-dynamic walking • Computer optimization of Walking and running • A point mass model of gibbon locomotion • Multiple walking speed-frequency relations ... • Collisional model energetic cost ... • Simplest walking model • More papers

History of passive dynamics (McGeer) & toys (old patents)

External links

Bicycle mechanics

Papers (Cornell and old classics) • JBike6 program

Other

Friction and fracture, Collision mechanics, Nonholonomic dynamics, Miscellaneous

picture of walker

Cornell McGeer copy (photo: Rudra Pratap).

About the lab

Joining the lab

Potential projects • Undergraduate application • Lab policies • Project report guidelines

Videos

Tinker toy • McGeer walker • Passive kneed walker • 3-D powered piped • Mininmal power walker • 3-D Walker • Mario’s brachiation • Rowing videos • Bicycle and wheel stability demo • Complete list of videos

Publicity

Present and past members

Last edits by Jen Cheu 11/22/09