Abstract
We designed and developed an ankle-driven type of quasi-passive dynamic walking machine. Then we modeled the machine by paying attention to the double stance phase for accurate analysis of realistic motion. And we used the method of penalty function to formulate motion equation. We succeeded to change the walking speed of ankle-driven walking machine by changing kick torque as well as brake torque. We analyzed the mechanism and confirmed by computer simulation. We discussed the validity of brake torque from the energy point of view s well as the stability of walking.
