Abstract
In this paper we propose a novel mechanism that enables the active/passive hybrid walking (A/PH walking). The mechanism is composed of a planetary gear system combined with a four-bar linkage joint We also propose a self-energized driving system, in which some pneumatic energy restored during a stance phase is utilized for the supplementary driving the knee joint during the subsequent swing phase. We call "self-energized active/passive hybrid walking" for this type of walking. This paper presents the mechanism of Robot Tokai-Robo-Habilis2 that embodies self-energized A/PH walking.
