Study on Quasi-passive Walking Robot Based on Impulse Thrust

Based on the passive walking robots, a new quasi-passive walking robot based on impulse thrust is studied. Firstly, we establish a simple quasi-passive walking robot model. The dynamic equation and the transition equation of the simplest two-link model are analyzed by using angular momentum theorem. The existence and stability of the fixed points are analyzed by using Poincare map. Secondly, we use MATLAB to simulate the walking robot, calculate the fixed points of the quasi-passive walking robot, and analyze the stability of the system through the eigenvalue of Jacobian of the linearized map. The feasibility of impulse thrust and telescopic leg is verified.

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