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This paper presents the design and experimental results of a passive dynamic based biped. The design of the biped was such that its features were anthropomorphic with respect to locomotion. A robot, consisting of only the lower body (hip to feet), was capable of walking passively or actively. During experimentation, the biped successfully walked down an inclined ramp with minimal aid. Real time data...
Controlled passive walking is an approach that extends the passive walking by adapting the compliance of the joints. Natural motions can be chosen in order to obtain a controllable and energy-efficient walking motion. In this paper, actuators with online adaptable compliance are used based on the concept of controlled passive walking, to obtain adjustable step length and velocity during dynamic bipedal...
A central pattern generator (CPG) and passive dynamic walking (PDW) have attracted much attention in the research field of bipedal locomotion. We describe a motion control method based on dynamic joint passivization for biped robot locomotion. CPG-based motion control is effective for walking on uneven terrain. However, it has serious problems with energy loss. In contrast, PDW saves energy because...
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