Crutches-Like Bipedal Walker with a Reduced Number of Actuators

This paper presents the design and implementation of a crutches-like compact ‘biped’ robot inspired by rehabilitative exoskeletons. Building on the compass-like biped concept, the proposed system is tailored for practical real-world use with only three actuators. The design allows the robot to perform both straight-line walking and steering maneuvers, emphasizing simplicity and cost-efficiency. Unactuated crutches are incorporated to enhance stability and reduce the load on the actuated leg during locomotion. Experimental results validate the robot's ability to navigate indoor environments with flat and regular surfaces, showcasing the practicality and robustness of the proposed design.