Asymptotic Solution for Simple Biped Walker Model
نویسندگان
چکیده
In this paper, we study a simple passive dynamic biped robot with point feet and legs without knee. The mathematical model describing the robot is a switched system, which includes an inverted double pendulum. Robot’s gait and its stability depend on parameters such as the slope of the ramp, mass distribution for the robot, and the length of its legs. The main result of the paper is an asymptotic solution for the gait.
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