Modeling and Analysis of the Dynamic Walking of a Biped Robot with Knees

Abstract

Modeling a biped robot with a complicated structure and descending an inclined plane is a challenge due to the complexity of its dynamic walking model. In this work, we develop the mathematical model of a kneed robot, with rigid segments and with punctual contact with the ground. We reformulate such complicated model as an impulsive hybrid nonlinear system. Moreover, using chiefly bifurcation diagrams, we study the influence of certain inertial and geometrical parameters on the passive gaits of the kneed bipedal robot. We show via simulations the exhibition of the Neimark-Sacker bifurcation emanated from the period-1 gaits, and hence the appearance of complex quasi-periodic gaits.