Stiff legged walking has been studied in the recent past at ARL by Anca Cocosco and Ken Yamazaki. Although the developped stiff legged walking algorithms, which relied mostly on momentum transfer to maintain steady rocking and avoid toe stubbing, worked well on Scout I they did not scale desirably when implemented on Scout II.

To remedy the shortcomings of stiff legged walking, dynamic compliant walking is currently being studied on Scout II. To date, very promising results have been obtained in simulation, using a novel walking algorithm. It is believed that dynamic compliant walking will have many advantages over its stiff legged counterparts and will produce energy efficient walking.

Rocking	Walking
Click image to view simulation  (AVI 141KB)	Click image to view simulation (AVI 400KB) Scout starts at rest, ramps up to 0.8 m/s, and ramps back down to rest after maintaining the target speed for a few seconds.

Experimental Results

Walking

Click image to view movie (3 MB) This short movie shows selected clips from dynamic compliant walking experiments. A higher resolution (10 MB) version of the movie is also available.