Passive walking, Attitude control, Biped Emu
The purpose of the paper is to show realization of some kinds
of passive walking of a biped Emu that is composed of one body and two
legs.
In the beginning of the paper, we define and formulate semi-passive
walking on a downward descent and semi-active walking on level surface
with attitude control of body based on the passive dynamic walking
mechanism.
Next, we propose control method for the semi-passive and semi-active
walking and analyze the stability of the semi-passive walking. It is
characteristics of the control law to use waist torque only.
Finally, we verify the validity of the methods by some simulations and
experiments.
Proc. of ICASE/SICE Joint Workshop 02, pp.304-309
