Walking Mechanism of 3D Passive Dynamic Motion With Lateral Rolling

The simulation analysis of 3D passive dynamic walking was performed in order to determine structural parameters for stable walking. As the first stage to this analysis, the yaw motion was assumed to be small enough to ignore. The limit cycles were observed in both lateral and sagittal plane under certain conditions. Then, a 3D passive walker was built for experimental analyses. The one of the best conditions for stable walking from simulation was applied for experiments. 3D passive walker walked down the slope although there were some differences between simulation and experiments.