抄録
This paper presents an active biped robot based on passive dynamic walking. In the first part of this paper, a Passive Dynamic Walker that achieves 3-D biped walking along a shallow down slope was presented. We then showed an active biped robot which can walk straight on a level ground. Through the experiment of passive dynamic walking, it was shown that the foot form of the robot might be considerably important for smooth walking. Because the foot form has great influence on the shape of the potential field between the center of the gravity of the robot and the ground, the gradient of the potential field was utilized to walk by actuating a part of mass for locomotion of the center of the gravity. As a result, smooth biped walking on a level ground was realized according to this mechanism.
