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To improve the walking stability of the passive bipedal robot with knees, a four-linkage multiaxial bionic knee is implemented in the robot leg, developing a new kind of passive-dynamic bipedal robot. A 3D dynamic simulation model of the robot walking on a slope is established in MSC. ADAMS and a numerical simulation is performed simultaneously. The robot's smooth walking was achieved, which contributes to understand the nature dynamic characteristics of human walking, and provide a clue to improve the bipedal robot's dynamic performance.