Passive dynamic bipedal walking (PDW) is an attractive topic not only for robotics field but also the other scientific fields, i.e. physics and biology. In order to clarify its mechanism of walking, many researchers have developed various PDW machines. We also have developed several 3D PDW with flat feet and ankle springs. However there are no researches on the measurement of 3-D PDW gait, whic...

Passive dynamic walkers (PDWs) can walk down shallow slopes with no motors or feedback controllers, using gravity as their only source of power input into the system. These systems have been used to examine the stability of human locomotion. The orbital stability of these systems under “ideal” conditions has been well established (Goswami 1997). However, like humans, these PDWs can fall over if...

Passive dynamic walking refers to a class of bipedal machines that are able to walk down a gentle slope with no external control or energy input. The legs swing naturally as pendula, and conservation of angular momentum governs the contact of the swing foot with the ground. Previous machines have been limited to planar motions. We extend the planar motions to allow for tilting side to side (rol...

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...

This paper explores the use of a single passive design to stabilize frontal plane dynamics for 3D biped walking across a range of forward velocities and/or step lengths. Particular goals are to determine if design of sagittal plane control can be done independently from design of frontal plane stabilization mechanisms, and to explore how dynamic coupling between the two planned motions affects ...

Irrespective of achieving certain success in comprehending Passive DynamicWalking (PDW) phenomena from a viewpoint of the chaotic dynamics and bifurcation scenarios, a lot of questions still need to be answered. This paper provides an overview of the previous literature on the chaotic behavior of passive dynamic biped robots. A review of a broad spectrum of chaotic phenomena found in PDW in the...

We address performance limits and dynamic behaviors of the two-dimensional passivedynamic bipedal walking mechanisms of Tad McGeer. The results highlight the role of heelstrike in determining the mechanical eÆciency of gait, and point to ways of improving eÆciency. We analyze several kneed and straight-legged walker designs, with round feet and point-feet. We present some necessary conditions o...

In this study an experimental passive dynamic biped walker is developed. The design of the experimental passive walker incorporates an accelerometer and an encoder for the purpose of gait measurement. The aim of this study is to compare the equivalency of testing a passive dynamic biped walker on a ramp to testing on a treadmill. The measured gaits produced on a ramp and on a treadmill are used...

We introduce a detailed numerical simulation and analysis framework to extend the principles of passive dynamic walking to quadrupedal locomotion. Non-linear limit cycle methods are used to identify possible gaits and to analyze the stability and efficiency of quadrupedal passive dynamic walking. In doing so, special attention is paid to issues that are inherent to quadrupedal locomotion, such ...