Passive Dynamic Walking (PDW) Robot

[MATLAB] PDW Robot Simulation Code

Implemented models

Compass gait model

Symmetric model

• Point foot model (Compass-like biped robot - Goswami et al.)
• Arc shape foot model (T McGeer)
• Flat shape foot model (MW Spong et al.)
• Upper body model (M Wisse et al.)

Asymmetric model

• Leg length asymmetric model (Will release (Paper writing))
• Leg mass asymmetric model (Will release (Paper writing))

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Knee model

• Symmetric model (H Chen)
• Asymmetric model (Will release (Paper writing))
  • Leg length asymmetric model
  • Leg mass asymmetric model

Animations

1. Compass gait model
2. Knee model
3. Upper body model
4. Flat foot model
5. Arced foot model
6. Compass gait model vs knee model

How to run?

Run each run.m matlab code

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Reference

1. McGeer, Tad. "Passive dynamic walking." Int. J. Robotics Res. 9.2 (1990): 62-82. [PDF]
2. Wisse, Martijn, Arend L. Schwab, and Frans CT van der Helm. "Passive dynamic walking model with upper body." Robotica 22.6 (2004): 681-688. [PDF]
3. Chen, Hsu. Passive dynamic walking with knees: A point foot model. Diss. Massachusetts Institute of Technology, 2007. [PDF]
4. Goswami, Ambarish, Benoit Thuilot, and Bernard Espiau. Compass-like biped robot part I: Stability and bifurcation of passive gaits. Diss. INRIA, 1996. [PDF]
5. Kim, Joohyung, Chong-Ho Choi, and Mark W. Spong. "Passive dynamic walking with symmetric fixed flat feet." 2007 IEEE International Conference on Control and Automation. IEEE, 2007. [PDF]