Abstract
In this paper we propose a compass type passive dynamic walking robot which has sensors to measure its dynamical parameters to analyze its walking gaits and behavior. A typical compass type walking robot has a difficulty to keep on walking because of its structure; the outer leg and the inner leg have same length, so the swing leg strikes its foot to the ground during its walking. To improve the problem we develop a new mechanism which expand and contract the second thigh part of the legs, and contribute to cut off the impact shock of ground contact. And then we investigate the behavior of Passive Dynamic Walking by the logged data of the robot.
