Passively walking five-link robot
The dynamics of a five-link, passive, bipedal robot (with knees and upper body) is investigated including the effect of incorporating passive elements such as springs and dampers in the passive joint of the biped. It is demonstrated that the addition of springs leads to a new set of gait patterns that do not exist in a motion of a completely passive biped. The stability of the proposed model is studied using the Poincaré map and Floquet multipliers.
scientific article; zbMATH DE number 2075425
scientific article