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ABSTRACT: In this paper, passive walking of the eight-legged robot QUARTET
II that has simple straight legs, and is also constrained to have two
degrees of freedom for the simplicity of its motion, is described. The
legged robot can continue to walk down a slight slope steadily without
any actuation if appropriate initial conditions are given. Since no
control input, except for gravitational torque, is applied to the robot,
more natural gaits compared with those of conventional actuated walking
robots are expected. In walking simulation, trajectory stability and
bifurcation that occurs along with the increase of slope angle and
finally leads to chaotic gait are discussed. In walking experiment, some
kind of trajectory stability and bifurcation can be observed
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on; 02/2000
