Passive walking with knees
Top Cited Papers
- 4 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1640-1645 vol.3
- https://doi.org/10.1109/robot.1990.126245
Abstract
It is shown that passive dynamic walking, a phenomenon originally described for bipeds having straight legs, also works with knees. Thus, giving only a downhill slope as a source of energy, a human-like pair of legs will settle into a natural gait generated by the passive interaction of gravity and inertia. No muscular input is required. The physics is much the same as in straight-legged walking, but the knee-jointed form has two advantages: it offers a simple solution to the problem of foot clearance during the recovery phase, and, in some cases, it is more stable.Keywords
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