The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2011
Session ID : 2A2-Q09
Conference information
2A2-Q09 Semi-Passive Dynamic Walking based on Flat Feet Passive Dynamic Walking(Passive Walking Robot)
Yuta HANAZAWAMasaki YAMAKITA
Author information
CONFERENCE PROCEEDINGS FREE ACCESS

Details
Abstract
As a walking which solves an energy efficiency problem of the biped robots, we are interested in a flat feet passive dynamic walking with ankle springs and ankle viscosities. The flat feet passive dynamic walking has an excellent performance and solves the problem of an arc-feet passive dynamic walking. For this reason, to obtain a level ground walking based on the flat feet passive dynamic walking, we propose a novel control method which combined a controlled symmetry and a push-off. Finally, we show that proposed walking has an excellent walking performance.
Content from these authors
© 2011 The Japan Society of Mechanical Engineers
Previous article Next article
feedback
Top