Passive dynamic walking model with upper body

Authors:
M. Wisse;A. L. Schwab;F. C. T. Van Der Helm
Affiliations:
Biped Lab., Fac. of Mech. Eng., Delft University of Technology, Mekelweg 2, NL-2628 CD Delft (The Netherlands);Biped Lab., Fac. of Mech. Eng., Delft University of Technology, Mekelweg 2, NL-2628 CD Delft (The Netherlands);Biped Lab., Fac. of Mech. Eng., Delft University of Technology, Mekelweg 2, NL-2628 CD Delft (The Netherlands)
Venue:
Robotica
Year:
2004

Citing 6
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Abstract

This paper presents the simplest walking model with an upper body. The model is a passive dynamic walker, i.e. it walks down a slope without motor input or control. The upper body is confined to the midway angle of the two legs. With this kinematic constraint, the model has only two degrees of freedom. The model achieves surprisingly successful walking results: it can handle disturbances of 8% of the initial conditions and it has a specific resistance of only 0.0725(−).