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bipedal walker

Robotica (1)

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1 results

Determination of the initial conditions by solving boundary value problem method for period-one walking of a passive biped walking robots
Masoumeh Safartoobi, Morteza Dardel, Mohammad Hassan Ghasemi, Hamidreza Mohammadi Daniali
Journal:

Robotica / Volume 35 / Issue 1 / January 2017

Published online by Cambridge University Press:

13 March 2015, pp. 166-188
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With regard to the small basin of attraction of the passive limit cycles, it is important to start from a proper initial condition for stable walking. The present study investigates the passive dynamic behaviors of two-dimensional bipedal walkers of a compass gait model with different foot shapes. In order to find proper initial conditions for stable and unstable period-one gait limit cycles, a method based on solving the nonlinear equations of motion is presented as a boundary value problem (BVP). An initial guess is required to solve the related BVP that is obtained by solving an initial value problem (IVP). For parametric analysis purposes, a continuation method is applied. Simulation results reveal two, period-one gait cycles and the effects of parameters variation for all models.