Analysis of a biped powered walking model based on potential energy compensation

The most important factor in powered walking based on passive dynamic walking is to counter-balance the energy which is lost at heel-strike. In this paper, we discuss a model with only one mass at the hip, which compensates the lost energy with the potential energy through extending and shortening the stance leg instantaneously over one walking cycle. The results show that there exists periodical gait when the model has appropriate length shorten ratio ß, inter-leg angle ¿₀, extension angle ¿_II, and shortening angle ¿_IV, and it has asymptotic stability within a wide range. The energy efficiency can be modulated by adjusting these parameters, and the highest energy efficiency can be 0.0569. Besides, it can realize varying-speed walking under the parameters tunning.