Performance Comparison of a Planar Bipedal Robot with Rigid and Compliant Legs

The purpose of this work is to study the effect of placing passive storage elements (springs) along the robot legs on its performance. We first present the model of a planar passive dynamic walker with compliant ground contact model, then replace its rigid legs with compliant legs. Simulation results validate the effectiveness of compliant legs in improving the performance (robustness and velocity) of the robot.