Abstract
This paper deals with development of a passive/active united actuator and it's application to a biped walking robot. In order to achieve an effective walking of a biped walking robot, it is required to unite the passive walking and the active one. Thus, a passive/active united actuator that has a torque detector and is actively controlled with our zero torque feedback control method was firstly developed in this paper. Proposed control scheme includes the passive walking period and the active walking one. In the passive walking period, the self-excited walking control is also employed to control the swing leg.
