Proceedings of the Japan Joint Automatic Control Conference
THE 53RD JAPAN JOINT AUTOMATIC CONTROL CONFERENCE
Session ID : 321
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Host: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 50 Societies and Institutes

Basis and Evolution of Passive Dynamic Locomotion
A dynamical model validation of Passive Dynamic Walking via experiments with a prototype
*Masatsugu Iribe, Tetsuya Kinugasa, Yasuhiro Sugimoto, Koichi Osuka
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Keywords: Passive Dynamic Walking, dynamical model adequacy, compass walker
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Abstract
In this paper we try to investigate the adequacy of the dynamical model which we have adopted to theorize the principle of passive dynamic walking robot. For this purpose, we developed a new prototype passive dynamic walking robot, a kind of compass walker, which has capabilities of capturing the state parameters of the model. Then we analyze its walking behavior by walking experiments, and we also try to investigate the results which can be described by our past research for theorization or not.
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© 2010 JSME
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