Frequency Analysis for Biped Walking via Leg Length Variation

摘要

We analyzed the frequency response property of a biped realized with a sinusoidal leg length variation. Legs are not activated in the swing phase but excited through length variation, and walking is categorized as "Passive Dynamic Walking." We provide dynamic and impact models to formulate walking, and define gain and phase properties as the frequency response. Leg length is controlled by a PD method and tracks to reference sinusoidal time functions. In some simulations, a resonance point exists for gain, gain corresponds to efficiency in the sense of consumed energy, and body inclination yields higher walking gain. We discuss the validity of frequency analysis comparing experimental results and simulation results.