Stabilization of Passive Walking Based on a Stability Mechanism of Fixed Point

Passive walker can walk down shallow slope without actuator and control. Though mechanical system of passive walker is simple, it is a sort of hybrid system that combines the continuous dynamics of leg-swing motion and the discrete event of leg-exchange. Passive walker can exhibit a stable limit cycle. In this paper, we demonstrate a global stabilization principle of fixed point from a simple passive walker with knees. And, the validity of stabilization principle is confirmed by walking experiment