Abstract
In this study, we proposed a biped robot capable of walking on the level ground based on passive dynamic walking by actuating motors embedded only in ankle joints. It was demonstrated that the robot stably walked down a small decline without the use of any motors. Because this robot was built by not only considering the characteristics of natural human walking but also actuating the motors to resonate with the period of its passive dynamic walking, it is possible to walk like a human-like gait and high energy efficiency.
