Zippy: The smallest power-autonomous bipedal robot
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arXiv
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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866913828163289088 |
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| author | Man, Steven Narita, Soma Macera, Josef Oke, Naomi Johnson, Aaron M. Bergbreiter, Sarah |
| author_facet | Man, Steven Narita, Soma Macera, Josef Oke, Naomi Johnson, Aaron M. Bergbreiter, Sarah |
| contents | Miniaturizing legged robot platforms is challenging due to hardware limitations that constrain the number, power density, and precision of actuators at that size. By leveraging design principles of quasi-passive walking robots at any scale, stable locomotion and steering can be achieved with simple mechanisms and open-loop control. Here, we present the design and control of "Zippy", the smallest self-contained bipedal walking robot at only 3.6 cm tall. Zippy has rounded feet, a single motor without feedback control, and is capable of turning, skipping, and ascending steps. At its fastest pace, the robot achieves a forward walking speed of 25 cm/s, which is 10 leg lengths per second, the fastest biped robot of any size by that metric. This work explores the design and performance of the robot and compares it to similar dynamic walking robots at larger scales. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_05686 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Zippy: The smallest power-autonomous bipedal robot Man, Steven Narita, Soma Macera, Josef Oke, Naomi Johnson, Aaron M. Bergbreiter, Sarah Robotics Miniaturizing legged robot platforms is challenging due to hardware limitations that constrain the number, power density, and precision of actuators at that size. By leveraging design principles of quasi-passive walking robots at any scale, stable locomotion and steering can be achieved with simple mechanisms and open-loop control. Here, we present the design and control of "Zippy", the smallest self-contained bipedal walking robot at only 3.6 cm tall. Zippy has rounded feet, a single motor without feedback control, and is capable of turning, skipping, and ascending steps. At its fastest pace, the robot achieves a forward walking speed of 25 cm/s, which is 10 leg lengths per second, the fastest biped robot of any size by that metric. This work explores the design and performance of the robot and compares it to similar dynamic walking robots at larger scales. |
| title | Zippy: The smallest power-autonomous bipedal robot |
| topic | Robotics |
| url | https://arxiv.org/abs/2505.05686 |