Robust Bipedal Walking: The Clyon Project

Bipedal robot walking presents challenges in design, control, balance and practicality. No one element can exclusively define a robust walking platform. With a combination of elements, a robust walking platform may be defined. In this paper, we present the development of a bipedal robot whose easily modifiable gait allows us to study gait performance and bipedal robot balance issues. Robot design, hardware requirements, computer interface and software development phases are also addressed. Overall, the Clyon robot presented in this work is aimed at discovering gaits with minimal hardware requirements to accomplish useful tasks