A Study of the Passive Gait of a Compass-Like Biped Robot

@article{Goswami1998ASO,
  title={A Study of the Passive Gait of a Compass-Like Biped Robot},
  author={Ambarish Goswami and Beno{\^i}t Thuilot and Bernard Espiau},
  journal={The International Journal of Robotics Research},
  year={1998},
  volume={17},
  pages={1282 - 1301}
}
The focus of this work is a systematic study of the passive gait of a compass-like, planar, biped robot on inclined slopes. The robot is kinematically equivalent to a double pendulum, possessing two kneeless legs with point masses and a third point mass at the "hip" joint. Three parameters, namely, the ground-slope angle and the normalized mass and length of the robot describe its gait. We show that in response to a continuous change in any one of its parame ters, the symmetric and steady… 
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It is well-known that a suitably designed unpowered mechanical biped robot can «walk» down an inclined plane with a steady gait. The characteristics of the gait (e.g., velocity, step period, step
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