Adding an upper body to passive dynamic walking robots by means of a bisecting hip mechanism

  • Wisse M
  • Hobbelen D
  • Schwab A
  • 52


    Mendeley users who have this article in their library.
  • 85


    Citations of this article.


Passive dynamic walking is a promising idea for the development of simple and efficient two-legged walking robots. One of the difficulties with this concept is the addition of a stable upper body; on the one hand, a passive swing leg motion must be possible, whereas on the other hand, the upper body (an inverted pendulum) must be stabilized via the stance leg. This paper presents a solution to the problem in the form of a bisecting hip mechanism. The mechanism is studied with a simulation model and a prototype based on the concept of passive dynamic walking. The successful walking results of the prototype show that the bisecting hip mechanism forms a powerful ingredient for stable, simple, and efficient bipeds

Author-supplied keywords

  • Biped
  • Bisecting hip
  • Passive dynamic walking
  • Upper body

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document


Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free