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Passive Dynamic Walking
Tad McGeer
School of Engineering Science Simon Fraser University Burnaby, British Columbia, Canada V5A 1S6
There exists a class of two-legged machines for which walking is a natural dynamic mode. Once started on a shallow slope, a machine of this class will settle into a steady gait quite comparable to human walking, without active control or en ergy input. Interpretation and analysis of the physics are straightforward; the walking cycle, its stability, and its sensi tivity to parameter variations are easily calculated. Experi ments with a test machine verify that the passive walking effect can be readily exploited in practice. The dynamics are most clearly demonstrated by a machine powered only by gravity, but they can be combined easily with active energy input to produce efficient and dextrous walking over a broad range of terrain.
The International Journal of Robotics Research, Vol. 9, No. 2,
62-82 (1990)
DOI: 10.1177/027836499000900206
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