The purpose of this paper is to show realization of semi-passive
walking of a biped robot Emu that is composed of one body and two legs.
The semi-passive walking means that a biped robot walks passively on
gentle descent accompanying with attitude control of the body.
In the beginning of this paper, we outline the formulation for the
passive and semi-passive walking.
We analyze, next, stability of the semi-passive walking to regard the
system as a discrete dynamical system.
Finally, we show some simulated results to verify the validity of the
controlled system and the analysis.
ICAR03
