A novel model analysis of the effects of upper body dynamics on passive dynamic biped walkers

This paper investigates the effects of upper body motion on the gait of passive biped walkers and analyzes model parameters to enhance locomotion stability and efficiency. Various models of passive walkers, including those with an additional torso and arm, are introduced. The study compares the gait characteristics under different configurations. The main findings reveal that specific structural parameters significantly influence the periodic nature of walking in point-footed bipeds. The research further explores the dynamics of these walkers by varying parameters such as torso mass, length, and the inclusion of arms, assessing their influences on stability, step characteristics, and energy consumption. The results demonstrate that simultaneous arm swinging and torso adjustments can enhance stability, energy efficiency, and walking robustness. The study confirms that incorporating upper body elements can influence passive walking dynamics, despite traditional models focusing on lower limb dynamics. These findings provide insights for designing more advanced and energy-efficient biped robots, as well as rehabilitation and assistive devices for individuals with motor disabilities.