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.
