A study of the leg-swing motion of passive walking

  title={A study of the leg-swing motion of passive walking},
  author={Yoshito Ikemata and Kiyoshi Yasuhara and Akihito Sano and Hideo Fujimoto},
  journal={2008 IEEE International Conference on Robotics and Automation},
In our earlier work, we showed that high stability of passive walking can be achieved by the global stabilization principle of fixed point. The principle has been established, providing that the state just after heel-strike exists at the next step. However, this condition may not always hold. The passive walker with knees can execute the leg-swing motion… CONTINUE READING