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We have developed biped robots with a passive dynamic walking mechanism. Thisstudy proposes a compass model with a wobbling mass connected to the upper bodyand oscillating in the horizontal direction to clarify the influence of thehorizontal dynamics of the upper body on bipedal walking. The limit cycles ofthe model were numerically searched, and their stability and energy efficiencywas investigated. Several qualitatively different limit cycles were obtaineddepending mainly on the spring constant that supports the wobbling mass.Specific types of solutions decreased the stability while reducing the risk ofaccidental falling and improving the energy efficiency. The obtained resultswere attributed to the wobbling mass moving in the opposite direction to theupper body, thereby preventing large changes in acceleration and decelerationwhile walking. The relationship between the locomotion of the proposed modeland the actual biped robot and human gaits was investigated.

Effect of the Dynamics of a Horizontally Wobbling Mass on Biped Walking Performance