Title: Influence of mass and length of biped robot on its passive walking

Authors: Nita H. Shah; Mahesh A. Yeolekar

Addresses: Department of Mathematics, Gujarat University, Ahmedabad, Gujarat, India ' Department of Mathematics and Humanities, Nirma University, Ahmedabad, Gujarat, India

Abstract: The motion of a biped robot can be explained by a set of nonlinear ordinary differential equations. In this paper, we investigate the linearised form of a system of nonlinear ordinary differential equations with impulse effect which modelled a simple planer biped robot without knee. It demonstrated the periodic walking of biped robot in a sagittal plane in absence of external forces except gravity. This paper explains the bifurcation study for the system of biped robot with respect to the bifurcation parameters, mass and length. The results exhibit that the stable symmetric gait leads to chaotic gait by the continuous change in the values of parameters. We observed that the symmetric gaits of robot are more responsive for the values of length of legs than the values of masses of robot.

Keywords: Biped robot; limit cycle walking; passive dynamic walking; Poincare map; orbital stability; bifurcation diagram.

DOI: 10.1504/IJANS.2016.085798

International Journal of Applied Nonlinear Science, 2016 Vol.2 No.4, pp.235 - 246

Received: 18 May 2015
Accepted: 02 May 2016
Published online: 14 Aug 2017 *

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