Implicit Feedback Structure in Passive Dynamic Walking with Circular Arc Feet

Relationship between Implicit Feedback Control Law and Energy Dissipation by Impact

Abstract

Passive dynamic walking has an implicit feedback structure generated by interaction between the walker and field included in environment. Some researchers are trying to find various systems such as passive running which also has the implicit feed back structure. In the paper, we clarify how the feedback structure of passive dynamic walking by circular arc feet model varies with respect to radius of the feet and viscosity. It is well known that the circular arc foot gives stable and robust walking. The radius and the viscosity decide amount of energy dissipation, hence, they are strongry relating to the interaction.