Abstract
This paper describes passive dynamic based walking for humanoid robot that has multiple degrees of freedom joints and an upper limb. To be capable of passive dynamic walking in level ground, we introduce the passive dynamic walking approach to our motion control method, and applying sinusoidal waves to emerge the walking motion on the biped robot model with upper limb. In addition, to reduce the collision of the foot and the tread of the robot when the swing leg changed places into the stance leg, the stance leg was given the rolling effect that was indispensable to passive dynamic walking by giving the curvature in the direction of the pitch and the roll on the soles. As a result, it is shown that the humanoid robot could walk with smooth oscillating and swing movement, and steadily in level ground.
