Abstract
In this study a dynamic model has been developed for two legs walking machine
for analysing the impact process. Energy dissipation in impact process due to leg
contact with the surface was determined. Then the principle of maximum energy
dissipation was applied to find the vertical and horizontal reaction at the points of
contact of legs with the surface. Also the relation between the angle of compass
(legs angle see fig1), the angular velocity prior impact and the vertical and
horizontal reactions at the points of contact is studied in order to determine the
optimumangle that gives a stable walking process and reduces vibration.
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