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Home Chapter 1 - Double Pendulum Chapter 2 - Cornell Ranger Equations of Motion Derivation Chapter 3 - Simulation of the Simplest Walker Chapter 4 - Hip Powered Walker


    The Biorobotics and Locomotion Laboratory at Cornell University uses walking robot simulations to develop controls and understand the dynamics of walking.. Past experience shows a steep learning curve in doing such walking simulations. As such, a manual was created to assist students who are learning to simulate dynamic walkers in MATLAB. The manual is seperated into four chapters, each building on the previous section. 

    The first section details the symbolic derivation of the equations of motion and a simulation of a double pendulum. The second section shows a symbolic derivation for the equations of motion for a walking machine called the Cornell Ranger1. The third section shows how to reduce the equations of Ranger to simulate the simplest walker2. Finally, the fourth section shows how to add control to a more general round feet powered walker.

     This manual was created in Professor Ruina's Biorobotics and Locomotion Laboratory at Cornell University by Josh Petersen, Pranav Bhounsule and Professor Andy Ruina.

1 Cornell Ranger website

2 The Simplest Walking Model Paper