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An Experimental Study On Passive Dynamic Walking, Philip Andrew Hatzitheodorou
An Experimental Study On Passive Dynamic Walking, Philip Andrew Hatzitheodorou
USF Tampa Graduate Theses and Dissertations
In this study, a previously designed passive dynamic walker (PDW) is built out of aluminum and plastic. The aim of the study was to produce an asymmetrical PDW and to compare the results to a computer simulation to validate the mathematical model. It also aimed at identifying the limitations of using additive manufacturing to create components for a PDW as well as gain insights on asymmetric systems.
Beginning with a five mass kneed model, parameters were varied to produce up to a nine mass kneed model solution. The nine mass model allows more variability in added mass locations and separates …