Passive dynamic walking of compass-like biped robot on slippery downhill
Fumihiko Asano, Toshiaki Saka, Tetsuro Fujimoto
Abstract
In this paper, we discuss the possibility and fundamental properties of passive bipedal walking on a slippery downhill. First, we develop a mathematical model of the passive compass-like biped robot that contacts with the ground incorporating sliding friction which is specified as the Coulomb model. Second, we discuss the possibility of instantaneous stance-leg exchange through mathematical analysis of the collision dynamics. Third, we perform numerical simulations using the model developed, and show that a stable walking gait can be generated with suitable initial conditions and physical parameters. Furthermore, we numerically show that period-doubling bifurcation occurs with the decrease of the coefficient of sliding friction.
BibTeX
@inproceedings{iros2015_passivedynamicwa,
title = {Passive dynamic walking of compass-like biped robot on slippery downhill},
author = {Fumihiko Asano and Toshiaki Saka and Tetsuro Fujimoto},
booktitle = {IROS 2015},
year = {2015}
}