Stability of a compass gait walking model with series elastic ankle actuation

Abstract

Passive dynamic walkers exhibit stable human-like walking on inclined planes. The simplest model of this behavior is the well known passive compass gait (PCG) model, which consists of a point mass at the hip and two stick legs. Due to their passive nature, these systems rely on a sloped ground to recover energy lost to ground collisions. A variety of… (More)
DOI: 10.1109/ICAR.2015.7251479

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