Stabilization of Lateral Motion in Passive Dynamic Walking

Stabilization and Walking Control for a Simple Passive Walker Using Computed Torque Method (RESEARCH NOTE)

Abstract   The simple passive dynamic walker can walk down a shallow downhill slope with no external control or energy input. Nevertheless, the period-one gait stability is only possible over a very narrow range of slopes. Since the passive gaits are extremely sensitive to slope angles, it is important to use a control strategy in order to achieve a wide range of stable walking. The computed to...

From Passive Dynamic Walking to Passive Turning of Biped walker

Dynamically stable biped robots mimicking human locomotion have received significant attention over the last few decades. Formerly, the existence of stable periodic gaits for straight walking of passive biped walkers was well known and investigated as the notion of passive dynamic walking. This study is aimed to elaborate this notion in the case of three dimensional (3D) walking and extend it f...

Toward Human Like Walking – Walking Mechanism of 3D Passive Dynamic Motion with Lateral Rolling – Advances in Human-Robot Interaction

Analysis of 3D Passive Walking Including Turning Motions for the Finite-width Rimless Wheel

The focus of studies in the field of passive walking has often been on straight walking, while less attention has been paid to the field of turning motions. In this paper, the passive motions of a finite width rimless wheel as the simplest 3D model of passive biped walkers was investigated with a focus on turning motions. For this purpose, the hybrid model of the system consisting of continuous...

Energy Dissipation Rate Control Via a Semi-Analytical Pattern Generation Approach for Planar Three-Legged Galloping Robot based on the Property of Passive Dynamic Walking

In this paper an Energy Dissipation Rate Control (EDRC) method is introduced, which could provide stable walking or running gaits for legged robots. This method is realized by developing a semi-analytical pattern generation approach for a robot during each Single Support Phase (SSP). As yet, several control methods based on passive dynamic walking have been proposed by researchers to provide an...