Modeling and Motion Analysis of Planar Passive-Dynamic Walker with Tensegrity Structure Formed by Four Limbs andEight Viscoelastic Elements

This paper investigates modeling and stable motion generation of a planar passive-dynamic walker with a tensegrity structure formed by four rigid limbs and eight viscoelastic elements. The robot model looks a lot like the traditional one, but has a fundamentally different mechanism for connecting limbs. First, we derive the equations of motion, constraint conditions and collision. Second, we conduct numerical simulations to investigate the fundamental properties of the generated passive-dynamic gaits. The simulation results show that the addition of a small amount of viscosity significantly improves the gait stability.