Host: The Society of Instrument and Control Engineers, System Integration Division
Pages 12
In this paper, we propose a new control method of Quasi-Passive-Dynamic-Walking. Concretly, we use the (k-1)th step’s trajectory as the reference trajectory instead of some trajectory which was made in advance and update the reference trajectory at every step. Then, after some steps, because of the special feature of Passive-Dynamic-Walking, the robot itself will make the ideal trajectory which is realized by passive dynamic walking. And the effectiveness of the control law is shown through simulations.
