Simulation Analysis of a Passive Biped Robot

Abstract

To more accurately understand the fundamental characteristics of the motion of a passive biped robot and to enhance the guidance provided by model research for the design of practical prototypes, we analyze the characteristics of this passive model and establish the corresponding dynamic model using the Lagrange method. Based on the characteristic that the stable walking cycle gait of the robot manifests as a limit cycle in the phase plane, we study the passive biped model with knee joints through co-simulation using Adams and Matlab. The process of simulating steady-state walking of the ideal model is demonstrated in detail, including the initial conditions required for the robot to achieve periodic steady-state walking, the motion characteristics, and the distribution, variation, and interconversion of kinetic and potential energy during the motion.