Gait Analysis of the Passive Dynamic Walker with Knees

摘要

A systematic study to the passive gaits of the passive dynamic walker with knees is presented in the paper. The motion models are derived firstly and normalized for numerical simulation. A time based limit cycle is employed to represent the hybrid dynamics of periodic passive dynamic walking. The evaluation of gait descriptors under variations of parameters of the robot is studied based on the Poincare first return map which captures the periodic dynamics of passive gaits. The stability property is analyzed and the effect of knees is discussed. The research of the paper is much helpful to the study of passive dynamic walkers with complex structures, the theoretical analysis and control strategy design.