Further Research and Comparison of Gaits for Compass-Like Biped and Kneed Passive Dynamic Walker

A further research and comparison study of passive gaits for compass-like biped and kneed passive dynamic walker are carried out in the paper. The physical and mathematical model of the two passive robots are illustrated and simulated, and the gait chrematistics are compared. The slope angle scale when stable gaits exist for the two robots is researched. Finally, the slope invariant control and energy based control are designed for kneed robot and validated by simulations. The results of the research can give a deep insight to the effect of knees to the planner passive biped and gives some instructions to design of biped machines.

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