Controlling Walking Velocity of a Pneumatic Actuated Biped by Changing Hip Passivity
نویسنده
چکیده
The behavior of the passive walker [1] is governed by its dynamics, and therefore, walking velocity cannot be controlled. On the other hand, a hip joint of a human is driven by an antagonistic pair of muscles, and its passivity seems to contribute to his/her behavior. In this paper, we propose to control walking velocity of a pneumatic actuated biped by changing hip passivity. We can control hip passivity by regulating duration to open the air valve. We conducted walking experiments to reveal the relation between the duration and the walking velocity.
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