We have developed biped robots with a passive dynamic walking mechanism. This study proposes a compass model with a wobbling mass connected to the upper body and oscillating in the horizontal direction to clarify the influence of the horizontal dynamics of the upper body on bipedal walking. The limit cycles of the model were numerically searched, and their stability and energy efficiency was investigated. Several qualitatively different limit cycles were obtained depending mainly on the spring constant that supports the wobbling mass. Specific types of solutions decreased the stability while reducing the risk of accidental falling and improving the energy efficiency. The obtained results were attributed to the wobbling mass moving in the opposite direction to the upper body, thereby preventing large changes in acceleration and deceleration while walking. The relationship between the locomotion of the proposed model and the actual biped robot and human gaits was investigated.

翻译：我们开发了双胞胎机器人,采用了被动的动态行走机制。本研究提出了一个罗盘模型,其质量与上体相连,在水平方向上摇晃,以澄清上体水平动态对双峰行走的影响。该模型的极限周期进行了数字搜索,并调查了其稳定性和能效。主要根据支撑摇晃质量的春季常量,获得了几个质量不同的限周期。特定类型的解决方案降低了稳定性,同时降低了意外下降的风险并提高了能效。获得的结果归因于向上体方向移动的波纹质量,从而防止了行走时加速和减速方面的巨大变化。对拟议模型的移动与实际双翼机器人和人手表之间的关系进行了调查。