Comparison of the Impact Dynamics of A Compass Gait Biped

Legged locomotion can promise to improve robot mobility. However hybrid dynamics make it a hard problem. Every step means an impact, and the mathematical meaning of this impact is a reset. Therefore impact dynamics and their properties define the system dynamics of the robot and walking pattern. This study investigates different impact models of a legged robot, biped, and comparison in regards to each other. Three types of them are introduced and applied on passive compass gait biped. Results are shared, the comparison is made by using Poincare fixed point and Monodromy matrix by using Floquet Theory.