The analysis of passive bounding gait plane model with half-circular compliant legs

Robots with half-circular compliant legs have robust mechanical properties and good dynamic performance. In this paper, we select the half-circular compliant legs as the research object. Firstly, we build the plane model of robots based on the single leg model and get the dynamic equation of each phase by Lagrange function. Then we define the vertex Poincare mapping function and propose a search strategy of fixed points. Finally, we finish the simulation experiment by matlab and verify reasonable initial conditions configuration can achieve stable passive bounding locomotion and the locomotion has an anti-interference ability.