平地安定歩行実現のための足関節駆動型アクティブ/パッシブ制御

抄録

In this paper, we propose a new ankle joint controller which enables stable walking for biped robot on horizontal plane if possible, and relatively low energy consumption. This controller utilizes passive dynamic walking trajectory, and adds potential energy to biped robot. We ascertain this by numerical simulation and confidently think this study will be helpful to an artificial leg.