Modelling, stability and biomechanical implications of three DOF passive bipedal gait

Abstract

Passive dynamic walkers can achieve a steady gait down an inclined plane simply by the influence of gravity. This article presents the modelling of a 3 DOF passive bipedal walker, searching for a relationship between gait characteristics, the robot’s physical properties and the slope of the plane. The proposed adimensional dynamical model’s equations are also given, implementing and modelling the dynamics is described and the main results are presented. Limits on robotic parameters leading to establishing stable limit cycles are also analysed as perio-dic doubling bifurcations appear to be natural in passive gait. Interesting results arose when comparing natural passive walking with human bipedal locomotion.

Keywords

• passive gait
• kneed passive walker
• human gait