Inspired by the fact that a human torso has both rigid skeletons and flexible internal organs,a passive walking robot model with a rigid and flexible bionic torso was proposed to improve the gait property of the robot,and the nonlinear dynamic properties of the robot were studied.First,the dynamic equations of the passive walking robot with a bionic torso were established by considering the flexible part of the torso as a mass-spring-dashpot system.Then,the effects of the equivalent elasticity coefficient,damping coefficient,and mass of the bionic torso on walking step length and walking speed of the robot were investigated respectively.The results show that compared with the rigid torso,the bionic torso enables a more abundant gait behavior for a passive walking robot.The flexibility of the bionic torso affects the walking step length,walking speed,and walking stability of a passive walking robot.With appropriate torso flexibility,the walking step length and walking speed of the robot can be improved while the stable periodic gait remains.Compared with the rigid torso,the walking step length and walking speed of the robot with a bionic torso can be increased by 12%and 2%,respectively.
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