Experimental Study on Stabilization of a Three-Dimensional Biped Passive Walking Robot

Abstract

In the analytical study on a biped passive walking robot, the simplified model has an almost round shape sole for the two-dimensional motion on the sagittal plane. However, a stabilization theory for biped passive walking has not been established. In addition, three-dimensional motion appears in an actual human gait. This paper examined the stabilization method of a biped passive walking robot with a three-dimensional weight shift. The experimental model was designed by using the results of human gait analysis. As a result, it was demonstrated that the biped passive walking robot could be stabilized on various slope angles.