The inherent dynamics of bipedal, kneed mechanisms are studied with emphasis on the existence and stability of repetitive gait in a three-dimensional environment, in the absence of external, active control. The investigation is motivated by observations that sustained anthropomorphic locomotion is largely a consequence of geometric and inertial properties of the mechanism. While the modeling excludes active control, the energy dissipated in ground and knee collisions is continuously re-injected by considering gait down slight inclines. The paper describes the dependence of the resulting passive gait in vertically constrained and unconstrained mechanisms on model parameters, such as ground compliance and ground slope. We also show the possibility of achieving statically unstable gait with appropriate parameter choices.
Repetitive Gait of Passive Bipedal Mechanisms in a Three-Dimensional Environment
Contributed by the Bioengineering Division for publication in the JOURNAL OF BIOMECHANICAL ENGINEERING. Manuscript received by the Bioengineering Division January 18, 1999; revised manuscript received October 16, 2000. Associate Editor: M. G. Pandy.
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Dankowicz, H., Adolfsson , J., and Nordmark, A. B. (October 16, 2000). "Repetitive Gait of Passive Bipedal Mechanisms in a Three-Dimensional Environment ." ASME. J Biomech Eng. February 2001; 123(1): 40–46. https://doi.org/10.1115/1.1338121
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