Analysis of local stability of biped passive dynamic walking model

作者：Hu Yun Fu^*; Zhao Jie; Zhu Yan He; Zang Xi Zhe

来源：Journal of Harbin Institute of Technology, 2010, 42(9): 1485-1490.

• Biped Robot
• Cycle
• Fixed points
• Local stability
• Passive walking
• Phase spaces

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.

• 出版日期2010