Abstract
We considered that a passive walk machine was an object controllable by the periodic control input, and developed the robot QuPPI (Quasi Passive walking robot by Periodic Input) which is a 4-pair-of-shoes passive walking machine with a torque unit actuator. By the periodic control input, we aimed at realizing a stable walking on slope and flat ground. We derive a graph of the motion and the optimal control timing in order to establish the energy control system. Experimented results using a prototype system show that the proposed control effective for QuPPI to achieve robust and efficient walking.
