Experimental verification of the characteristic behaviors in passive dynamic walking

Abstract

It is well known that passive dynamic walking shows chaotic behavior owing to changes in the environment. In addition, when the environment changes continuously during walking, passive dynamic walking shows “adaptive behaviors” in which the stride angle changes itself in an attempt to keep walking. These behaviors are very interesting and useful for the legged robot design. However, the studies on passive dynamic walking are preceded only by numerical simulations. For this reason, it is very important to confirm, by actual experiments, whether these characteristic behaviors appear. In this paper, we verify the existence of these behaviors by several actual experiments.

Variable-time-interval trajectory optimization-based dynamic walking control of bipedal robot

“…In addition, there are some studies in which passive walking is provided by taking advantage of gravity [5] or applying very little energy [6]. The compass biped robot, which is frequently preferred in theoretical walking studies, can be physically realizable with minor modification by adding a retracting actuator as a knee to avoid the scuffing problem [7,8]. The Cornell biped robot is one of the pioneers of this genre [9].…”