Determination of the initial conditions by solving boundary value problem method for period-one walking of a passive biped walking robots.

Safartoobi, Masoumeh; Dardel, Morteza; Hassan Ghasemi, Mohammad; Mohammadi Daniali, Hamidreza

With regard to the small basin of attraction of the passive limit cycles, it is important to start from a proper initial condition for stable walking. The present study investigates the passive dynamic behaviors of two-dimensional bipedal walkers of a compass gait model with different foot shapes. In order to find proper initial conditions for stable and unstable period-one gait limit cycles, a method based on solving the nonlinear equations of motion is presented as a boundary value problem (BVP). An initial guess is required to solve the related BVP that is obtained by solving an initial value problem (IVP). For parametric analysis purposes, a continuation method is applied. Simulation results reveal two, period-one gait cycles and the effects of parameters variation for all models.

BOUNDARY value problems; ROBOTS; DYNAMIC balance (Mechanics); INITIAL value problems; NONLINEAR equations

Robotica, 2017, Vol 35, Issue 1, p166

0263-5747

Academic Journal

10.1017/S0263574715000077