Gait Analysis for an Active Rimless Wheel with Two Arms

Abstract

In this study, we investigated the walking characteristics of a passive walking robot with two arms. Specifically, we utilized a simple rimless wheel passive walking robot and mimicked the movement of human arms through symmetrical wobbling masses attached to the body. The simulation results demonstrated the generation of a stable period-1 limit cycle gait. Furthermore, while various trends were observed in walking frequency and speed, it was evident that a larger angle of front-to-back swing of the arms corresponded to an increase in speed. Additionally, not locking the arms allowed for the generation of gait even on very gentle slopes. Nevertheless, it was revealed that improper setting of control parameters could lead to a decrease in walking performance. This study provides valuable insights into the design and control of biped walking robots, contributing to the development of future walking robots.