A self-excited biped walking mechanism consisting of two legs that are connected in a series at the hip joint through a servomotor is studied as a cyclic system with collisions. A torque proportional to angle between the shank and the vertical is seen to sustain a gait. Each leg has a thigh and a shank connected at a passive knee joint that has a knee stopper restricting the forward motion like the human knee. A mathematical model for the dynamics of the system including the impact equations is used to analyse the stability of the system through examination of phase plane plots. Phase plane plots along with energy flow during the cycle show the nature of the system.

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