Analysis of Dynamics of Passive Walking from Energy Function and Eigenvalues
نویسندگان
چکیده
It is well known that passive walking robot can dynamically walk down with a steady gait by only powered gravity. The dynamics of passive walking has interesting characteristics of stability and bifurcation. Since passive gait is natural motion, investigation of passive walking may lead us to understand human locomotion and design for active walking robot. In this paper, the dynamics of passive walking is investigated from the aspect of energy function. We demonstrate the relationship between the limit cycle area and the rate of energy supplied by potential energy. Also, analysis of eigenvalues reveals the behavior of local stability and mechanism of bifurcation.
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