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Passive walker that can walk down steps: simulations and experiments

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Abstract

A planar passive walking model with straight legs and round feet was discussed. This model can walk down steps, both on stairs with even steps and with random steps. Simulations showed that models with small moments of inertia can navigate large height steps. Period-doubling has been observed when the space between steps grows. This period-doubling has been validated by experiments, and the results of experiments were coincident with the simulation.

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Authors and Affiliations

  1. School of Aerospace, Tsinghua University, Beijing, 100084, China

    Ning Liu, Junfeng Li & Tianshu Wang

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  1. Ning Liu
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  2. Junfeng Li
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  3. Tianshu Wang
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Correspondence to Tianshu Wang.

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Liu, N., Li, J. & Wang, T. Passive walker that can walk down steps: simulations and experiments. Acta Mech Sin 24, 569–573 (2008). https://doi.org/10.1007/s10409-008-0175-9

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  • DOI: https://doi.org/10.1007/s10409-008-0175-9

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