抄録
This paper presents passive clynam i c walking with e].astic energy. We propose a new type of passive dynamic walking robot by adding elastic materials such as spring or rubber between a supporting leg and a swing leg of the robot. By utilizing restoring force of sprmg or rubber, we can make the passive dynamic walking robot easily walk since the angle of the swing leg is restricted. In this paper, we firstly derive dynamics of the passive walking robot with elastic energy. iNext, we show the effectiveness of adding elastic energy by computer simulation. Finally, we make the a(ltual passive walking robot with elastic energy and carry out walking experirrienits.
