Abstract
The aim of this study is to investigate the existence of a symmetric and periodic walking gait in a flexible passive dynamic biped for walking along an inclined plane. This model is a simple, two-link, 2-D passive compass gait biped. These two links are connected at the hip through a freely rotating revolute joint and one of the links (stance leg) can change its length when it is in contact with the ground. Hence, the robot has three degrees of freedom (DoF). Dynamic equations of the system during the swing phase have been determined using the Euler–Lagrange method. For the linearized model, we have analytically obtained a natural set of initial conditions to obtain a periodic gait with above constraints. These initial conditions were used to obtain the periodic cycle for the non-linear model and the corresponding time period through numerical optimization. It has been investigated the effect of leg stiffness on the gait parameters. We found a flexible biped which can produce symmetric walking gait and walks fast.
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