A Hip Actuated Passive Dynamic Walking Biped

This paper presents the design and experimental results of a passive dynamic based biped. The design of the biped was such that its features were anthropomorphic with respect to locomotion. A robot, consisting of only the lower body (hip to feet), was capable of walking passively or actively. During experimentation, the biped successfully walked down an inclined ramp with minimal aid. Real time data acquisitions were performed to capture the results, and the experimental data of the walking trajectories were analysed and verified against simulations. It was found that the constructed biped exhibits the same walking trend as the derived theoretical model.