抄録
We formulate one dimensional biped passive walking model with periodic rhythmic movement of a tail and a torso. The legs and the torso were modeled by globally coupled vibro-impact oscillators. The Grover like wave algorithm realizes indirect movement of a swing leg by transporting energy from the driven tail. Periodic leg exchange attains stable passive walking like movement. By using the designed mechanism, one central pattern generator can control multiple limbs movement.
