Some Results on the Study of 3d Biped Robot

摘要

The focus of the work is a relative further study of the passive gait of 3D biped robot on inclined slopes that Russ Tedrake presented. The robot is equivalent to a double pendulum, possessing two point-feet legs with point masses and a third point mass at the “hip” joint. All the research above will have realistic significance in helping us to be better aware of walking rules and global properties of the 3D biped gaits of the robot.