Abstract
This paper reports the detailed results of motion analysis of planar passive-dynamic walkers having tensegrity structures formed by four rigid frames and eight viscoelastic elements. We consider two types of walkers using common elements; Type 1 and Type 2. Numerical simulations show that Type 1 can generate stable passive-dynamic gaits in a wide parameter range even if the mounting position of the viscoelastic elements and the slope are changed, and that Type 2 is very difficult to identify appropriate physical parameters for generating stable passive-dynamic gaits and even a slight increase in the slope makes it impossible to take off the rear foot. It is also numerically clarified that Type 1 has a long ratio of double-limb support period to one step, and Type 2 has a short ratio.
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