# A Study of the Passive Gait of a Compass-Like Biped Robot

@article{Goswami1998ASO, title={A Study of the Passive Gait of a Compass-Like Biped Robot}, author={Ambarish Goswami and Beno{\^i}t Thuilot and Bernard Espiau}, journal={The International Journal of Robotics Research}, year={1998}, volume={17}, pages={1282 - 1301} }

The focus of this work is a systematic study of the passive gait of a compass-like, planar, biped robot on inclined slopes. The robot is kinematically equivalent to a double pendulum, possessing two kneeless legs with point masses and a third point mass at the "hip" joint. Three parameters, namely, the ground-slope angle and the normalized mass and length of the robot describe its gait. We show that in response to a continuous change in any one of its parame ters, the symmetric and steady… Expand

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