Influence of Slope Angle on the Walking of Passive Dynamic Biped Robot

Nita H. Shah¹, Mahesh A. Yeolekar²

¹Department of Mathematics, Gujarat University, Ahmedabad, India.
²Amiraj College of Engineering & Technology, Gujarat Technological University, Ahmedabad, India.

DOI: 10.4236/am.2015.63043                

Abstract

In this paper, we modeled a simple planer passive dynamic biped robot without knee with point feet. This model has a stable, efficient and natural periodic gait which depends on the values of parameters like slope angle of inclined ramp, mass ratio and length ratio. The described model actually is an impulse differential equation. Its corresponding poincare map is discrete case. With the analysis of the bifurcation properties of poincare map, we can effectively understand some feature of impulse model. The ideas and methods to cope with this impulse model are common. But, the process of analysis is rigorous. Numerical simulations are reliable.

Keywords

Biped Robot, Limit Cycle Walking, Passive Dynamic Walking, Poincare Map, Orbital Stability, Bifurcation

Conflicts of Interest

The authors declare no conflicts of interest.

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