Summary
International Symposium on Nonlinear Theory and its Applications
2005
Session Number:4-3-3
Session:
Number:4-3-3-2
A Numerical Analysis on Stability of Simplest Passive Dynamic Walking
Masayuki Baba, Takashi Hikihara,
pp.206-209
Publication Date:2005/10/18
Online ISSN:2188-5079
Summary:
This paper focuses on the stability of passive dynamic walking. Passive dynamic walking is well known as efficient and natural walking, so that many researchers investigate the mechanism to apply it to the locomotion with natural and effective energy use. The investigation of the stability on this motion has a potential to lead us to design more efficient or natural control. In this paper, the stability of the simplest passive dynamic walking is mainly discussed based on the global phase structure, considering the continuous walking state. As a result, the dynamical feature of passive dynamic walking is clearly understood.