Improved biped walking performance around the kinematic singularities of biomimetic four-bar knees
Aikaterini Smyrli,Evangelos Papadopoulos,Aikaterini Smyrli,Evangelos Papadopoulos
This paper studies the effects of replacing pin-joint knees in passive dynamic bipedal walkers with biomimetic four-bar knees. The kinetic model of the four-bar knees is presented in detail, and an analytical model of the passive walking dynamics is derived. The resulting four-bar kneed biped is compared with a pin-joint kneed walker, for their passive walking performance. The geometry of the four...
