Abstract
This study proposes a novel control method that stabilizes a three-dimensional (3D) biped passive walker without knee and ankle joints by using frequency entrainment and a mechanical oscillator. Stabilizing method for a 3D biped passive walker using periodic input generated by Van der Pol equation was experimentally examined. The passive walker was stabilized on a downward slope and a flat floor by synchronizing the lateral motion to the sagittal motion. This research aims at improving the adaptability to the working environment by proposing the climbing control algorithm. It was analytically demonstrated that the novel control method using the change of the swing leg period stabilized a quasi passive walker on various upward slope. Finally, the validity of this control method is verified by experiments.
