306 Design and Gait Generation of the Crutches-type Walking Robot with Passive Joints

Abstract

Here, we present mechanics of the crutches-type walking robot. This walking robot is made up two crutches and one leg mechanics. Walking patterns consist of two phase. One is leg support phase and another is crutches support phase. As this robot has passive joint at tip of the crutch, in crutches support phase, it behaves like a passive dynamic walking. We propose mechanics of leg that is composed of passive joint at knee as well as at tip of crutch, and show the result of the dynamical analysis and simulation that regard this walking robot as pendulum model of four link mechanism.