抄録
In recent years, research on biped walking robots has been focused on passive dynamic walking. The most important benefit of passive walking is low energy consumption; however, the walking itself is not robust and cannot be sustained without control. To minimize the energy that is used for control, we propose a simple switching control method based on phase trajectory. In this paper, we simulate a planar passive biped walker descending a moderate slope and apply the proposed walking control method. A significant improvement in sustainability of walking was achieved with minimal use of energy.
