Exploring Passive-Dynamic Walking
نویسنده
چکیده
Bipedal walking has been demonstrated through physical and computer simulations by McGeer [1] to be possible without actuation or control within a range of shallow slopes. Results from such passive dynamic walkers have led many researchers to believe the mechanics of walking should be understood, in addition to the activation and control issues, for biped locomotion to be realized. Recent work by Collins et al [2] has revived the interest in passive-dynamic walking, after several years of dormancy. This paper examines, in greater detail, experiments and results from a passive-dynamic walking model and attempts to evaluate the potential of passive-dynamic walking for biped locomotion.
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