The Design and Control of Robotic Legs while Pedaling a Bicycle

Page 1 <img data-url='document/the-design-and-control-of-robotic-legs-while-pedaling-a-bicycle.html?page=1' data-page='1' class='cut-thumb lazyload' alt='Page 1: The Design and Control of Robotic Legs while Pedaling a Bicycle' loading='lazy' src='data:image/gif;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mNk+P+/HgAFhAJ/wlseKgAAAABJRU5ErkJggg==' data-src='https://reader033.cupdf.com/reader033/viewer/2022052905/5585b7a6d8b42a40548b4a21/html5/thumbnails/1.jpg' width='140' height='200' /> The Design and Control of Robotic Legs while Pedaling a Bicycle

By: Douglas Schwichtenberg

Page 2 <img data-url='document/the-design-and-control-of-robotic-legs-while-pedaling-a-bicycle.html?page=2' data-page='2' class='cut-thumb lazyload' alt='Page 2: The Design and Control of Robotic Legs while Pedaling a Bicycle' loading='lazy' src='data:image/gif;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mNk+P+/HgAFhAJ/wlseKgAAAABJRU5ErkJggg==' data-src='https://reader033.cupdf.com/reader033/viewer/2022052905/5585b7a6d8b42a40548b4a21/html5/thumbnails/2.jpg' width='140' height='200' /> Legs• Constructed from wood• Model of my legs• Joints held together by

threaded rod

Page 3 <img data-url='document/the-design-and-control-of-robotic-legs-while-pedaling-a-bicycle.html?page=3' data-page='3' class='cut-thumb lazyload' alt='Page 3: The Design and Control of Robotic Legs while Pedaling a Bicycle' loading='lazy' src='data:image/gif;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mNk+P+/HgAFhAJ/wlseKgAAAABJRU5ErkJggg==' data-src='https://reader033.cupdf.com/reader033/viewer/2022052905/5585b7a6d8b42a40548b4a21/html5/thumbnails/3.jpg' width='140' height='200' /> Bicycle and Setup• Schiwinn Sprint

• Cycleops stationary trainer

Page 4 <img data-url='document/the-design-and-control-of-robotic-legs-while-pedaling-a-bicycle.html?page=4' data-page='4' class='cut-thumb lazyload' alt='Page 4: The Design and Control of Robotic Legs while Pedaling a Bicycle' loading='lazy' src='data:image/gif;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mNk+P+/HgAFhAJ/wlseKgAAAABJRU5ErkJggg==' data-src='https://reader033.cupdf.com/reader033/viewer/2022052905/5585b7a6d8b42a40548b4a21/html5/thumbnails/4.jpg' width='140' height='200' /> • Air muscles• Act similar to real

muscles• Controlled by

pressurized air• Each muscle and

fitting individually engineered

Movement

Page 5 <img data-url='document/the-design-and-control-of-robotic-legs-while-pedaling-a-bicycle.html?page=5' data-page='5' class='cut-thumb lazyload' alt='Page 5: The Design and Control of Robotic Legs while Pedaling a Bicycle' loading='lazy' src='data:image/gif;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mNk+P+/HgAFhAJ/wlseKgAAAABJRU5ErkJggg==' data-src='https://reader033.cupdf.com/reader033/viewer/2022052905/5585b7a6d8b42a40548b4a21/html5/thumbnails/5.jpg' width='140' height='200' /> Page 6 <img data-url='document/the-design-and-control-of-robotic-legs-while-pedaling-a-bicycle.html?page=6' data-page='6' class='cut-thumb lazyload' alt='Page 6: The Design and Control of Robotic Legs while Pedaling a Bicycle' loading='lazy' src='data:image/gif;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mNk+P+/HgAFhAJ/wlseKgAAAABJRU5ErkJggg==' data-src='https://reader033.cupdf.com/reader033/viewer/2022052905/5585b7a6d8b42a40548b4a21/html5/thumbnails/6.jpg' width='140' height='200' /> Page 7 <img data-url='document/the-design-and-control-of-robotic-legs-while-pedaling-a-bicycle.html?page=7' data-page='7' class='cut-thumb lazyload' alt='Page 7: The Design and Control of Robotic Legs while Pedaling a Bicycle' loading='lazy' src='data:image/gif;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mNk+P+/HgAFhAJ/wlseKgAAAABJRU5ErkJggg==' data-src='https://reader033.cupdf.com/reader033/viewer/2022052905/5585b7a6d8b42a40548b4a21/html5/thumbnails/7.jpg' width='140' height='200' /> Page 8 <img data-url='document/the-design-and-control-of-robotic-legs-while-pedaling-a-bicycle.html?page=8' data-page='8' class='cut-thumb lazyload' alt='Page 8: The Design and Control of Robotic Legs while Pedaling a Bicycle' loading='lazy' src='data:image/gif;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mNk+P+/HgAFhAJ/wlseKgAAAABJRU5ErkJggg==' data-src='https://reader033.cupdf.com/reader033/viewer/2022052905/5585b7a6d8b42a40548b4a21/html5/thumbnails/8.jpg' width='140' height='200' /> Page 9 <img data-url='document/the-design-and-control-of-robotic-legs-while-pedaling-a-bicycle.html?page=9' data-page='9' class='cut-thumb lazyload' alt='Page 9: The Design and Control of Robotic Legs while Pedaling a Bicycle' loading='lazy' src='data:image/gif;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAADUlEQVR42mNk+P+/HgAFhAJ/wlseKgAAAABJRU5ErkJggg==' data-src='https://reader033.cupdf.com/reader033/viewer/2022052905/5585b7a6d8b42a40548b4a21/html5/thumbnails/9.jpg' width='140' height='200' /> Estimated completion: September 2009More to come.

The Design and Control of Robotic Legs while Pedaling a Bicycle

Business

air muscles

real muscles

pressurized air

legs joints

wood model

threaded rod

douglas schwichtenberg

estimated completion