Numerical Analysis for Dynamic Biped Walking Taking into Account Motion of Upper Body

Abstract

Passive dynamic walking is a gait on a shallow slope without active control. The walking cycle is generated by the dynamics and action of gravity only. A natural motion like a human walking and high efficiency are its merits. Passive dynamic walking is considered as a kind of self-excited vibration in which continuous motion governed by a nonlinear equation of motion and impact motion at switching of legs are repeated alternately. Many kinds of nonlinear phenomena are observed in this walk. In this paper, we propose an analytical model of a straight-lagged biped passive walker considering the motion of upper body. Also, the steady state solution is investigated numerically. Furthermore, comparing with double inverted pendulum, the effect of the springs and dampers at the ankle and the hip on the stability of walking is studied.