Parameter Optimization of Passive Dynamic Walking Biped with Knees

摘要

A method to find the optimized parameter values of passive dynamic walking biped is presented. The effects of biped physical parameters on the stability property of passive gaits are studied by simulation experiments. The chosen parameters include the mass distribution, length of leg and slope angle. The stability property of passive walking limit cycles is used as criterion of optimization calculation, including the orbital stability described by eigen-values of linearized Poincaré map and the global property described by size of attraction region. The simulation results show how the stability of limit cycle varies when physical parameters of the passive biped change. The work is useful to explore the inherent property of passive dynamic walking and can be used as an important instruction in the mechanical design of biped robots based on principle of passive dynamic walking.