1A2-Q05 Limit Cycle Running of Flat-footed Biped Robot based on Fiat-Footed Passive Dynamic Walking with Mechanical Impedance at Ankles(Passive Walking Robot(2))

Abstract

To realize energy-efficient running, we propose a novel running based on flat-footed passive dynamic walking with mechanical impedance at ankles. Flat-footed passive dynamic walkers with mechanical impedance at ankles achieve energy-efficient walking without any control. Therefore, we expect biped robots to achieve energy-efficient running by taking advantage of the dynamics of the passive dynamic walker. We show that a biped robot achieves energy-efficient and fast running by proposed method.