Modeling, Validation, and Design Investigation of a Passive Biped Walker with Knees and Biomimetic Feet
Aikaterini Smyrli,Evangelos Papadopoulos,Aikaterini Smyrli,Evangelos Papadopoulos
This paper studies a passive biped walker with knees and biomimetic feet and its behavior, as a function of key parameters. The model includes a continuous dynamic representation of the knee joint's interaction with a viscoelastic kneecap, as well as a complete kinematic description of feet that are designed to mimic the human rollover shape. First, the analytical model is derived and studied nume...
