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Vol.20, Special Issue, 2020, pp. S11–S17 |
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STABILITY OF LIMIT CYCLES OF PASSIVE DYNAMIC KNEED BIPED Bijal M. Yeolekar1, Mahesh A. Yeolekar2 1) Department of Mathematics & Humanities, Institute of Technology, Nirma University, INDIA email: bijalyeolekar28@gmail.com 2) Department of Science & Humanities, Government Engineering College-Modasa, Gujarat Technological University, Gujarat, INDIA email: mahesh.a.yeolekar@gmail.com
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Abstract Stable and energy efficient walking is one of the fundamental objectives of research on biped robots. A well designed mechanical biped structure can move on a slanted plane with stable gait in absence of any external forces except gravity. This mechanical structure gets the required energy for motion from the change of potential energy due to the gravitational field when it stands on the inclined ramp. The gait stability of such passive motion of biped depends on the structural characteristics of the mechanical model and slope of the slanted plane. The study of passive walking of biped may have the potential to build control strategies for the actuated biped and also to understand human the walking pattern. In this paper we explain that nonlinear passive dynamics of a kneed biped can get stable periodic limit cycles. Results of simulation also show the presence of n-periodic limit cycles for several values of slope. Keywords: kneed biped, passive dynamic walking, limit cycles, Poincare map, bifurcation diagram |
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