From passive dynamic walking to ankle push-off actuation: An MSC ADAMS approach to design

The main focus of this paper is on how the biped robot has a stable passive gait cycle as well as going through a stable journey on a level ground merely with push-off actuation. During recent years humanoids have been in the center of attention due to several reasons some of which are: compactness of the structure, low energy consumption, humanoid behavior and last but not least being of great use in medical field. In this paper, equations of motion regarding the passive phase as well as push-off are simulated in MATLAB software. For the next step, a comparison between these two stable gait cycles is made so as to figure out the difference between energy injected to the system by push-off and the one provided by the gravity. Then it is studied from the robustness point of view and it continues with a touch upon period doubling and bifurcation. Results from MATLAB are followed and validated by MSC ADAMS software in both fields and are compared to one another with the aim of finding a rational relationship between these two gait cycles. In the end, the robot is constructed and tested on a slope successfully. Eventually by having the similarity made between passive gait cycle and the one with push-off, having a stable gait cycle on a level ground with push-off actuation is possible.