Comparative study of effects of ramp angle on the Non-Linear passive dynamic walking of kneed and Knee-Less biped robot

This paper presents the stability of gaits of kneed biped robots in compare to kneeless bipeds while walking on the ramp in absence of external forces except gravity. The kneed biped modeled by adding knees in the kneeless biped with the same dimensions. Consequently, the ramp angle is considered as a parameter for the comparative analysis of stability of models. The fixed-point analysis of Poincare map technique is used for the stability analysis of periodic gaits. The bifurcation diagrams are used for pictorial representation of results. The effects of ramp angle show that the kneed biped is fast, stable with small step size for higher ramp angle compare to kneeless biped. As a result, the knees increased the stability of biped.