A Passive Dynamic Walker Mechanism

Abstract

A passive dynamic walker is a device which can descend a shallow decline using only its own weight as a driving force. In this project, our team has developed a completely mechanical walker which does not rely on any sensors or motors to aid in its motion. The walker can descend down a flat surface without the use of stepping stones to grant its swing legs clearance. Instead of these stepping stone, we have developed a valve-mechanism which permits the cyclical retraction of the swing leg of our walker as it descends a decline. Our design is also low-cost, being assembled completely out of laser-cut and cheap, off-the-shelf parts.