Abstract
Passive biped walkers can walk down a shallow slope without actuators. This paper presents a simple planar passive biped walker with flat feet and ankle springs, and investigates the effects of torsional spring stiffness on the pitch motion at the ankle joints. Numerical stability studies indicated that the motion of the passive walker is stable. Physical biped walker has four legs, with each set of two legs connected so that they moved identically, to constrain the motion of the walker to the sagittal plane. Experimental results showed that the biped walker can walk stably.
