Abstract
We designed and developed a quasi-passive dynamic walking robot with swinging torso, and we confirmed flat plane walking as well as slope climbing by experiments. We analyzed walking condition and succeeded slope climbing of variable inclination angle. Then, we discussed the estimation algorithm of slope inclination angle without using inclination angle sensor. Next, we experimentally realized dynamic walking where inertial force was considered. From the heuristic searches by changing swinging period of torso, we found several patterns in the results. They were compared with walking speed and the walking pitch. Then we discussed the walking condition depending on the swinging of the torso, including the change of walking direction.
