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Showing 1 to 3 of 3 for “"Passive Walker"”.
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Recurrent Gait of Anthropomorphic, Bipedal Walkers
This thesis explores the dynamics of two bipedal, passive-walker models that are free to move in a three-dimensional environment. Specifically, two rigid-bodied walkers that can sustain anthropomorphic gait down an inclined plane with gravity being the only source of energy were studied using …
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Analysis of walking and balancing models actuated and controlled by ankles
… locomotion, I first analyze the dynamics of some passive walkers without any joint torque. These passive walkers include a rimless wheel model and springy-legged models with and without a double stance phase. I analyze the stability of the period-one gait of each passive walker to compare it with …
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Knee design for a bipedal walking robot based on a passive-dynamic walker
Passive-dynamic walkers are a class of robots that can walk down a ramp stably without actuators or control due to the mechanical dynamics of the robot. Using a passive-dynamic design as the basis for a powered robot helps to simplify the control problem and maximize energy efficiency compared to …