Sliding Passive Dynamic Walking of Compass-Like Biped Robot: Collision Modeling, Necessary Conditions, and Complexity

摘要

[abstFig src='/00290003/06.jpg' width='300' text='Short- and long-period sliding passive compass gaits' ] This paper investigates the modeling and analysis of the sliding passive dynamic walking of a compass-like biped robot with pointed feet. First, we present the passive compass-like biped model and redevelop the inelastic collision equation for stance-leg exchange, taking the impulsive frictional effect into account. Second, we numerically show that two different steady motions, the short- and long-period sliding passive compass gaits, can be generated according to the initial conditions in the presence of the effects of the hip damper and impulsive frictional force. Furthermore, we numerically analyze the change characteristics of the gait descriptors with respect to the system parameters, and we discuss the relationship between the short- and long-period gaits.