SLIDER: A Novel Bipedal Walking Robot without Knees

摘要

This extended abstract describes our work on SLIDER: a novel bipedal robot with knee-less legs and hip sliding motion. Compared with conventional anthropomorphic leg design, SLIDER's leg design enables the robot to have very lightweight legs and is suitable to perform agile locomotion. To validate this design, we created a dynamics model and implemented a walk pattern generator capable of walking with a speed of 0.18 m/s in Gazebo. Currently, a physical prototype is under construction for real-world testing. The initial mechanical design and the control strategy for SLIDER are introduced.