Analysis of local stability of biped passive dynamic walking model

Abstract:

To realize the stable walking cycle of passive biped robot,this paper presents a method to find the fixed point and a detailed analysis on the effect of the change of mechanical parameters of the passive walking model and slope gradient on the existence of stable fixed point is carried out.The effect for each parameter at the given initial conditions on the speed of converging to the stable cycle walking and the effect of changing status of stable fixed point from the change of the parameters are investigated.It is concluded that the smaller mass for legs,a higher location for the center of mass,the right radius of foot,the larger moment of inertia as well as the right slope gradient are beneficial for improving the local stability of the passive robot.