Modeling a quasi-passive bipedal walker: when and where to kick

Abstract Walking is one of the most complex tasks a human being can perform. It takes several years to develop patterns that enable person walk and run. Although it now possible replicate these in machines such as robots, actuators are needed control pace compensate for energy loss walking. However, small robots (in scale centimeters) size weight could be limiting factor their use. To solve this problem, quasi-passive walkers have been recently proposed. These consist coupled rigid bodies, usually forming biped, move on flat surfaces presence gravitational field. well known bipeds descend slope planes without need actuators. horizontal requires initiate maintain pace, however, enough ”kick” walker at right point time. In work, we present physical-mathematical model bipedal composed five bodies (two legs, two feet, hip) moving plane. The focuses natural motion biped under certain initial conditions with ultimate goal determining best position actuation time gait. This used guide construction laboratory-scale teaching tool biomedical engineering courses.