Abstract
This study aims at finding active biped robot designs with efficiency and simplicity of passive-dynamic walking. In this paper, a control method based on passive-dynamic walking is proposed. Torso and swing-leg control enable a biped robot with knees on level ground to walk stably without gait planning. The torso control is used to generate active power replacing gravitational potential energy which is used in the case of passive-dynamic walking. The swing-leg control is applied in order to satisfy the transition condition of the swing-leg and the stance-leg before the robot falls down. When we choose an appropriate parameter of the swing-leg control, the biped robot can walk stably and efficiently over a wide range of speed.
