Abstract: A bipedal walking robot uses a quasi-passive control scheme and a simplified mechanical design. The walking robot has a pair of legs connected to a body through a passive hip joint, which is offset from a center of gravity of the walking robot. A nonconcentric, curved foot is attached at to each leg by a prismatic joint. Extension and retraction of the prismatic joint initiates the walking sequence of the robot, with each foot retracted during the swing phase and extended during the stance phase. Directional changes are controlled by changing a phase offset in the actuation of each foot.

Abstract: A bipedal walking robot uses a quasi-passive control scheme and a simplified mechanical design. The walking robot has a pair of legs connected to a body through a passive hip joint, which is offset from a center of gravity of the walking robot. A nonconcentric, curved foot is attached at to each leg by a prismatic joint. Extension and retraction of the prismatic joint initiates the walking sequence of the robot, with each foot retracted during the swing phase and extended during the stance phase. Directional changes are controlled by changing a phase offset in the actuation of each foot.

Abstract: A paper based cellulosic dunnage for use during transportation of goods. The dunnage may include an inner core, with a plurality of vertically aligned cellulosic cells that may be hexagonal in shape. The dunnage may include a top linerboard, attached to the top surface of the inner core, and corner boards, attached to the top and side surfaces of the inner core.

Abstract: A paper based cellulosic dunnage for use during transportation of goods. The dunnage may include an inner core, with a plurality of vertically aligned cellulosic cells that may be hexagonal in shape. The dunnage may include a top linerboard, attached to the top surface of the inner core, and corner boards, attached to the top and side surfaces of the inner core.