A Comparative Study and Development of a Passive Robot with Improved Stability

Abstract. Passive walkers are robots that can produce a stable cyclical movement similar to walking on mildly inclined surfaces. In recent years, various investigations have been conducted on this subject. Since this is a new field of research, the effect of structural parameters on the movement of these walkers and the development of more human-like movement models can be further investigated. This paper has reviewed the Garcia’s model, which is the simplest of all the passive robot models. Subsequently, the wisse’s model was investigated. In this research, the Wisse’s model was slightly modified by placing a spiral spring between the legs and upper body. Finally, by adding two arms to the Wisse’s model, a more complete version was obtained and analyzed. This paper demonstrates that as the passive robot model becomes more real and life-like, the walking of the robot becomes more efficient and the robot itself becomes more stable.