https://doi.org/10.1140/epjp/s13360-023-04641-7
Regular Article
A solvable walking model for a two-legged robot
Physics, University of Lisbon, Instituto Superior Técnico, Av. Rovisco Pais, 1049-001, Lisbon, Portugal
Received:
4
September
2023
Accepted:
28
October
2023
Published online:
8
November
2023
We present a solvable biped walking model based on an inverted pendulum with two massless articulated legs capable of walking on uneven floors and inclined planes. The stride of the two-legged robot results from the pendular motion of a standing leg and the articulated motion of a trailing leg. Gaiting is possible due to the pendular motion conservation of energy and the alternating role of the legs, the standing and the trailing leg. The motion on uneven surfaces and inclined planes is possible by imposing the same maximal opening angle between the two legs in the transition between strides and the adaptability of the time of each stride. This model is solvable in closed form and is reversible in time, modelling the different types of biped motion. Several optimisation results for the speed of gaiting as a function of the robot parameters have been derived.
Supplementary Information The online version contains supplementary material available at https://doi.org/10.1140/epjp/s13360-023-04641-7.
© The Author(s) 2023
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