Efficiency, speed, and scaling of two-dimensional passive- dynamic walking

摘要

We address performance limit and dynamic behaviour of the two- dimensional passive-dynamic bipedal walking mechanisms of Tad McGeer. The results highlight the role of heelstrike in determining the mechanical efficiency of gait, and point to ways of improving efficiency. We analyse several kneed and straight-legged walker designs, with round feet and and point-feet. We present some necessary conditions on the walker mass distribution to achieve perfectly efficient (zero-slope-capable) walking for both kneed and straight-legged models.