In this study, a simple 2-D biped known as Garcia model [1] is used. This robot possessing two kneeless legs with point masses as its feet at the end of each leg and a third point mass at the “hip” joint. Three parameters, namely the ground slope angle, the normalized mass (ratio of foot mass to the hip mass) and leg length of the robot describe its gait. In previous works, the normalized mass was assumed zero, however, in this study, the effect of normalized mass on the bifurcation and chaotic behavior of biped is investigated. The numerical results show that, by increasing the foot masses, the system reaches the bifurcation point in smaller slopes with greater Poincare´ section fractal dimension. Thus, the biped with larger foot mass is more chaotic and the results show that in this case it has smaller gait length.

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