Non-powered Stealth Walking Approach to Generation of Passive Dynamic Gait on Horizontal Plane

Abstract

Abstract This paper discusses a method for achieving passive dynamic walking on a horizontal plane based on the principle of stealth walking utilizing the effect of an elastic element. First, we introduce a model of an eight-legged rimless wheel with a spring-loaded reaction wheel, and describe the equation of motion and target boundary conditions. Second, we show that there exist approximate solutions of the target period and initial state of the single-limb support phase, and that they can be identified by using the linearized model. Third, we show a linearized passive-dynamic gait on a horizontal plane with the minimum target period through numerical simulations. Furthermore, we extend the results obtained to the nonlinear model, and conduct parametric studies to investigate the fundamental gait properties.