IEEE ICRA'07 Digest Template

1
BLUE A Bipedal Robot with Variable Stiffness and
Damping
Alexander Enoch, Andrius Sutas, Shin'ichiro
Nakaoka and Sethu Vijayakumar IPAB,
University of Edinburgh, United Kingdom
Intelligent Systems Research Institute, AIST,
Japan

• BLUE Bipedal Locomotion at the University of
  Edinburgh
• A planar biped with independent variable
  stiffness and variable damping mechanisms in each
  hip, knee and ankle
• Three part compliant foot
• Variable stiffness mechanisms carefully selected
  to provide necessary torque and be energy
  efficient when changing stiffness, or remaining
  at high stiffness