摘要: It is shown that passive dynamic walking, a phenomenon originally described for bipeds having straight legs, also works with knees. Thus, giving only downhill slope as source of energy, human-like pair legs will settle into natural gait generated by the interaction gravity and inertia. No muscular input required. The physics much same in straight-legged but knee-jointed form has two advantages: it offers simple solution to problem foot clearance during recovery phase, and, some cases, more stable. >
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