Abstract
Passive Dynamic Walking robots' structures which are used in previous researches usually generate different gaits for every step because of the robots' structures. However, general system model of Passive Dynamic Walking which is used for the research generates uniform gait for every step, of course. For this reason, it is desirable for the real prototyped legged walking robots to generate uniform gaits which are used for Passive Dynamic Walking research. For this reason, we proposed a new symmetric structure of Passive Dynamic Walking robot which generates uniform gait for every step. In this paper we describe the robot's structure and walking behavior in detail.
