Control of a Compass Type Walking Machine Based on Online Simulation

Abstract

Recent mainstream walking robots need active control at all times. On the other hand, a passive dynamic walking robot is more efficient, because it can walk without any active control. However, one shortcoming is that it cannot walk on level ground. There is a need to study new theory for efficient walking on level ground. We have constructed a new type of walking machine based on a compass type walking model. This paper describes gait control based on online simulation for the compass type walking machine.