Modeling Framework and Software Tools for Walking Robots

Abstract

In research on passive dynamic walking, the aim is to study and design robots that walk naturally, i.e., with little or no control effort. McGeer [1] and others (e.g. [2, 3]) have shown that, indeed, robots can walk down a shallow slope with no actuation, only powered by gravity.\ud In this work, we derive mathematical models of walking ro- bots to better understand the dynamics that determine the walking behavior, and to design controllers that e.g. in- crease robustness against changing environments. We use the port-Hamiltonian framework, as it has the advantage of explicitly showing energy-flows inside and into the system. Thus, it allows a direct efficiency study as well as the possi- bility to connect external elements in a ‘physical’ way using ports, instead of using just torque/force signals