Impact Dynamics and Parametric Analysis of Planar Biped Robot

In this paper, impact dynamics of general planar biped walking robots are studied. Based on integration method, explicit solutions for external impulses and generalized velocity changes are obtained in a detailed form for both single and double impact. And the conditions for single and double impact are proposed. So given a state just before impact, one can predict the impact type and the state of biped robot just after impact. The relation between single and double impact is developed and a novel method is proposed to distinguish between single and double impact. Next parametric analysis is carried out for a planar five-link biped robot. The result shows that double impact with no-slip hardly happens whereas single impact with no-slip frequently happens for normal biped walking in practice application.