Iranian Journal of Mechanical Engineering Transactions of the ISME

Iranian Journal of Mechanical Engineering Transactions of the ISME

A Modeling Framework for Rigid Legs Passive Dynamic Biped Walkers in MSC ADAMS

Document Type : Research Paper

Authors
Roozbeh Ghanadi Azar 1
Kourosh Moeini 2
Mohammad Reza Haghjoo 3
Mostafa Taghi Zadeh 4
1 M.Sc., Faculty of Mechanical and Energy Engineering, Shahid Beheshti University, Tehran, Iran
2 B.Sc., Faculty of Mechanical and Energy Engineering, Shahid Beheshti University, Tehran, Iran
3 Assistant Professor, Faculty of Mechanical and Energy Engineering, Shahid Beheshti University, Tehran, Iran
4 Associate Professor, Faculty of Mechanical and Energy Engineering, Shahid Beheshti University, Tehran, Iran
10.30506/jmee.2025.2040212.1361
Abstract
Passive dynamic walkers have gained widespread interest for their ability to mimic human-like movements. However, modeling and simulating these walkers in mathematical software can be challenging due to their complex dynamic equations of motions. This paper presents a framework for multibody modeling and simulating passive dynamic biped walkers with rigid legs in MSC ADAMS. This approach significantly simplifies the modeling process by avoiding the complexity of deriving mathematical equations of motion. The framework involves creating a general base model of the biped walker (such as a compass-like design), followed by dynamic analysis in MSC ADAMS. The model developed in MSC ADAMS is carefully adapted through a suggested parameter adjustment procedure to ensure that the core functionalities of a purely mathematical model are preserved. The findings indicate that a slightly higher initial angular velocity of the stance leg is required in MSC ADAMS compared to the mathematical model to achieve stable periodic motion and account for stance foot slippage. This research enables more realistic simulations of passive biped robots in MSC ADAMS, reducing reliance on purely theoretical models.
Keywords
Passive dynamic walker
Compass biped walker
MSC ADAMS
Modeling
Periodic motions

Subjects

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Iranian Journal of Mechanical Engineering Transactions of the ISME
Volume 26, Issue 2 - Serial Number 45
September 2025
Pages 72-92