A Solvable Walking Model for a Two-Legged Robot

13 Pages Posted: 18 Oct 2022

See all articles by Rui Dilao

Rui Dilao

Instituto Superior Tecnico

Nuno Teixeira

affiliation not provided to SSRN

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Abstract

We present a solvable biped walking model based on an inverted pendulum with two massless articulated legs capable of walking on uneven floors and inclined planes. The stride of the two-legged robot results from the pendular motion of a standing leg and the articulated motion of a trailing leg. Gaiting is possible due to the alternating role of the legs, the standing and the trailing leg, and the conservation of energy of the pendular motion. The motion on uneven surfaces and inclined planes is possible by imposing the same maximal opening angle between the two legs in the transition between strides and the adaptability of the time of each stride. This model is solvable in closed form and is reversible in time, modelling the different types of biped motion. Several optimisation results for the speed of gaiting as a function of the robot parameters have been derived.

Keywords: two-legged robot \sep walking mode \sep walking on uneven floors and inclined planes

Suggested Citation

Dilao, Rui and Teixeira, Nuno, A Solvable Walking Model for a Two-Legged Robot. Available at SSRN: https://ssrn.com/abstract=4251027 or http://dx.doi.org/10.2139/ssrn.4251027

Rui Dilao (Contact Author)

Instituto Superior Tecnico ( email )

Lisbon
Portugal

Nuno Teixeira

affiliation not provided to SSRN ( email )

No Address Available

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