Optimum design, manufacturing and experiment of a passive walking biped: effects of structural parameters on efficiency, stability and robustness on uneven trains

Passive walkers are robots, which perform a walking external control. This concept was published on 90’s by McGeer and there are lots of past few years. Keeping in mind performance and finding their optimums, simulating the biped and establishing a trend to its optimal design and and finally doing experimental researches, wou can be built has been considered, and then its walking performance sensitivity such as efficiency, stability and robustness on uneven trains due to variation of structural parameter was shown that the foot arc radius and center of mass height have the most important effect on walking performance. After comparing the results with previous researches and doing simulations in MSC. design trend has been suggested. At the end based on experimental results, it was shown beside optimization of structural parameters, considering the impact condition as well would be very important to achieve optimal walking.