Aiming to high-speed robots, engineers looked for inspiration at their natural counterparts and the features they possess. The flexible torso is considered a key feature to attaining high velocities. we introduce a sagittal plane model with a translational (linear) flexible torso and massless springy legs, for the first time in the literature, to the best of our knowledge. The model is passive and conservative. Despite its simplicity, it allows the prediction of the existence of repetitive passive gaits corresponding to Poincaré fixedpoints, and of resulting motions resembling those of its natural counterparts. The developed model is the only one that captures the extensive variation of the sagittal hip-to-hip distance due to spine deformation.


Pin It on Pinterest