A comparative study and development of a passive robot with improved stability

Hamid Reza Shafei, Soroush Sadeghnejad*, Mohsen Bahrami, Jacky Baltes

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)


Passive walkers are robots that can produce a stable cyclical movement similar to walking on mildly inclined surfaces. In recent years, various investigations have been conducted on this subject. Since this is a new field of research, the effect of structural parameters on the movement of these walkers and the development of more human-like movement models can be further investigated. This paper compares three popular models for passive dynamic walkers: Garcia's mode, Wisse's model, and our own extended Wis-se's model with arm. Our research shows that the extended models lead to more energy efficient and stable walking.

Original languageEnglish
Title of host publicationRoboCup 2014 - Robot World Cup XVIII
EditorsKomei Sugiura, H. Levent Akin, Reinaldo A.C. Bianchi, Subramanian Ramamoorthy
PublisherSpringer Verlag
Number of pages11
ISBN (Electronic)9783319186146
Publication statusPublished - 2015
Externally publishedYes
Event18th Annual RoboCup International Symposium, RoboCup 2014 - Joao Pessoa, Brazil
Duration: 2014 Jul 192014 Jul 24

Publication series

NameLecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)
ISSN (Print)0302-9743


Other18th Annual RoboCup International Symposium, RoboCup 2014
CityJoao Pessoa

ASJC Scopus subject areas

  • Theoretical Computer Science
  • General Computer Science


Dive into the research topics of 'A comparative study and development of a passive robot with improved stability'. Together they form a unique fingerprint.

Cite this