Influence of mass and length of biped robot on its passive walking
by Nita H. Shah; Mahesh A. Yeolekar
International Journal of Applied Nonlinear Science (IJANS), Vol. 2, No. 4, 2016

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.

Online publication date: Mon, 14-Aug-2017

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