Dynamic passive biped robot simulation based on virtual gravity using Matlab®

Abstract

There are two main approaches in order to design biped robots; one is to use precise control and powerful actuators, and the other is based on passive walking optimizing energy consumption. In this paper a simulation method developed in Matlab® is proposed for a passive robot capable to accomplish a virtual passive walking. The proposed method considers three actuators, one at the hip and another two for the ankles. Simulation results are shown for a basic gravity-based control and can be used to develop another control strategies. Index Terms-passive dynamic walking virtual gravity Matlab®