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Based on passive dynamic walking, we proposed a simple biped walking method on level ground by using elastic potential energy. To explain its working principle, the process of energy compensation is analyzed. The influences of different time delay control on the gait, walking performance, energy efficiency and stability of the model are studied by numerical simulation. Results shows that this walking...
The aim of this research is to find an actuated level ground walking method, which is analogous to the dynamics of a passive dynamic walker on a slope. We propose to take advantage of the coupled elastic to actuate legs. As a result, maintaining the character of passive dynamic and a simple control algorithm are achieved simultaneously. In our walking model, actuated bars are installed on each leg...
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