DBL's research background
The Delft Bio-robotics Laboratory was started in 1995 with Van der Linde's walking robot research. The walking robot research aims at the development of human-like walking machines. This project is a clear example of biologically inspired robot design; instead of jerky robotic motions we want to achieve a natural walking pattern. We expect that our research will provide insight in the fundamental principles of human walking, without distraction by the enormous complexity of the multi-purpose machinery of the human body. This insight, in turn, we hope can help the development of new rehabilitation devices. Also, the entertainment business could well benefit from a better understanding of how to develop walking machines.
Our approach to walking machine design originates from the prosthetics design practice within the MMSC-group. Van der Linde was dared by his master's thesis advisor, emeritus prof. Cool (pronounce Cole), to build a walking machine powered by only one small motor. Minimal weight and energy consumption are important design criteria for prosthetics, and could shed new light on machine walking. Van der Linde succeeded with his waddling Stappo.
van der Linde 
Prof. Cool
Soon we found out not to be the first with this approach by far. Official recordings of walking toys date back as far as 1888 (e.g. Fallis patent). In 1989, McGeer started a systematic research into "Passive dynamic walking machines", which walk down a shallow slope and need no motors and no controls. His research was continued by prof. Ruina in his "Human Power and Robotics Laboratory". Wisse, then an undergraduate student, visited Ruina's lab in 1998 to build a 3D walker. Steve Collins and prof. Ruina completed the machine.
Wisse 
Prof. McGeer 
Prof. Ruina
We regard passive dynamic walking as the starting point for all our walking machine designs, even though we are powering some of our machines such that they are not purely passive. We apply two concurrent research strategies. On one hand, we are looking into irreducibly simple, idealized walking models, to discover general truths about bipedal (two-legged) walking. Next to the simple, idealized models, we are developing real-world walking prototypes. With these prototypes we want to test the fundamental principles discovered with the idealized computer models. The prototypes serve as proof of applicability, and also as a source of new ideas.
In chronological order, we have developed:
- Stappo, Van der Linde's first walking (waddling) machine,
- The Cornell walker, which was completed in Ruina's lab,
- Bob, a 3D walker with knees and ankles, which was just a little too underactuated,
- Baps, the much more versatile successor of Stappo, and the first to use pneumatic McKibben muscles,
- The Museon walker, a conceptually simple but eye-pleasing demonstration machine,
- Mike, a 2D machine with knees, actuated by McKibben muscles,
- Max, a 2D walker with knees, hips and an upper body.
