Motion analysis and experiment of a planar passive biped walker with flat feet and ankle springs

Terumasa Narukawa, Kazuto Yokoyama, Masaki Takahashi

Research output: Contribution to journalArticle

2 Citations (Scopus)


Passive biped walkers can walk down a shallow slope without actuators. This paper presents a simple planar passive biped walker with flat feet and ankle springs, and investigates the effects of torsional spring stiffness on the pitch motion at the ankle joints. Numerical stability studies indicated that the motion of the passive walker is stable. Physical biped walker has four legs, with each set of two legs connected so that they move identically, to constrain the motion of the walker to the sagittal plane. Experimental results showed that the biped walker can walk stably.

Original languageEnglish
Pages (from-to)1380-1385
Number of pages6
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number765
Publication statusPublished - 2010 May
Externally publishedYes



  • Ankle springs
  • Flat feet
  • Passive walking
  • Stability analysis
  • Walking experiment

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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