This paper presents a new passive-biped model consisting of a simplest walking model beneath an upper body, with no kinematic constraint. The upper body is attached to the legs with a linear torsional spring. The mode...This paper presents a new passive-biped model consisting of a simplest walking model beneath an upper body, with no kinematic constraint. The upper body is attached to the legs with a linear torsional spring. The model is a passive dynamic walker, so it walks down a slope without energy input. The governing equations of motion are derived and simulated for the parameter analysis purposes. Simulation results reveal some different routes to chaos that have not been observed in previous models.展开更多
文摘This paper presents a new passive-biped model consisting of a simplest walking model beneath an upper body, with no kinematic constraint. The upper body is attached to the legs with a linear torsional spring. The model is a passive dynamic walker, so it walks down a slope without energy input. The governing equations of motion are derived and simulated for the parameter analysis purposes. Simulation results reveal some different routes to chaos that have not been observed in previous models.
