Passive dynamic walking is an excellent tool for evaluating biped stability measures, due to its simplicity, but an understanding of the stability, in the classical definition, is required. The focus of this paper is on analyzing the stability of the passive dynamic gait. The stability of the passive walking model, validated in Part I, was analyzed with Lyapunov exponents, and the geometry of the basin of attraction was determined. A novel method was created to determine the 2D projection of the basin of attraction of the model. Using the insights gained from the stability analysis, the relation between the angular momentum and the stability of gait was examined. The angular momentum of the passive walker was not found to correlate to the stability of the gait.
Passive Dynamic Biped Walking—Part II: Stability Analysis of the Passive Dynamic Gait
Contributed by the Design Engineering Division of ASME for publication in the Journal of Computational and Nonlinear Dynamics. Manuscript received December 11, 2012; final manuscript received March 1, 2013; published online March 26, 2013. Assoc. Editor: Parviz Nikravesh.
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Koop, D., and Wu, C. Q. (March 26, 2013). "Passive Dynamic Biped Walking—Part II: Stability Analysis of the Passive Dynamic Gait." ASME. J. Comput. Nonlinear Dynam. October 2013; 8(4): 041008. https://doi.org/10.1115/1.4023933
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