Experimental Verification of Adaptive Function Inherent in Passive Dynamic Walking and Walking Motion Stabilization Applying the Function

Abstract

It has been proposed to apply adaptive function which is one of the characteristics of passive dynamic walking in designing legged walking robot hardware. Although the adaptive function has been confirmed to appear only in computer simulations, it has not yet been confirmed in actual experiments. We tried to conduct the phenomenon caused by Adaptive function, by several verification experiments, and then confirmed that Adaptive function appeared. Addition to it, we confirmed that the walking motion of passive dynamic walking can be stabilized by applying adaptive function by several experiments. In this paper, we describe the verification of adaptive function and the stabilization of walking motion by experiments.