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In this paper, we study a simple passive dynamic biped robot with point feet and legs without knee. The mathematical model describing the robot is a switched system, which includes an inverted double pendulum. Robot's gait and its stability depend on parameters such as the slope of the ramp, mass dis- tribution for the robot, and the length of its legs. The main result of the paper is an asymptotic solution for the gait.

ASYMPTOTIC SOLUTION FOR SIMPLE BIPED WALKER MODEL