Publisher： Cambridge University Press
E-ISSN： 1469-8668|27|4|511-528
ISSN： 0263-5747
Source： Robotica, Vol.27, Iss.4, 2009-07, pp. : 511-528
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Abstract
We have made a systematic study of the gait of a straight leg planar passive walking model through simulations and experiments. Three normalised parameters, which represent the foot radius, the position of the mass centre and the moment of inertia, are used to characterise the walking model.
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