Abstract
In this paper, impact dynamics of general planar biped walking robots are studied. Based on integration method, explicit solutions for external impulses and generalized velocity changes are obtained in a detailed form for both single and double impact. And the conditions for single and double impact are proposed. So given a state just before impact, one can predict the impact type and the state of biped robot just after impact. The relation between single and double impact is developed and a novel method is proposed to distinguish between single and double impact. Next parametric analysis is carried out for a planar five-link biped robot. The result shows that double impact with no-slip hardly happens whereas single impact with no-slip frequently happens for normal biped walking in practice application.
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