抄録
This paper concerns an analysis of the global stability of a quasi-passive dynamic walking (quasi-PDW) on level ground. In this study, "a simplest walking model" is adopted as the biped walker model, and the constant torque inputs at the hip joints which simulate the effect of the gravity on a slope are introduced to enable a periodic walking motion. A swing leg control is further introduced to improve the global stability, which is evaluated by the area of basin of attraction of the stable periodic solution on the Poincare map. The influence of the swing leg control gain as well as the amount of the constant torque inputs is investigated in terms of the location of the equilibriums and global stability.
