Currently, many bipedal robots have been proposed to realize the high energy efficiency walking. The control input isn’t required for the passive dynamic walking. Generally, a foot of passive dynamic walking robot is an arc foot. In this paper, it is intended to establish a control method and control mechanism to achieve the energy efficient and the stable gait. Therefore, we developed 3D quasi...

Abstract It is well known that passive dynamic walking shows chaotic behavior owing to changes in the environment. In addition, when environment continuously during walking, “adaptive behaviors” which stride angle itself an attempt keep walking. These behaviors are very interesting and useful for legged robot design. However, studies on preceded only by numerical simulations. For this reason, i...

Passive dynamic walkers (PDWs) are simple dynamical systems that have been used to study the fundamentals of normal human walking. In essence, they are a collection of links and joints capable of “walking” down shallow slopes with a surprisingly human-like gait. PDWs have no active motors or control system, rather they are “powered” by gravity. With judicious choice of model parameters and init...

Theauthors have built the first three-dimensional, kneed, two-legged, passive-dynamic walking machine. Since the work of Tad McGeer in the late 1980s, the concept of passive dynamics has added insight into animal locomotion and the design of anthropomorphic robots. Various analyses and machines that demonstrate efficient humanlike walking have been developed using this strategy. Human-like pass...

The research on the principles of legged locomotion is an interdisciplinary endeavor. Such principles are coming together from research in biomechanics, neuroscience, control theory, mechanical design, and artificial intelligence. Such research can help us understand human and animal locomotion in implementing useful legged vehicles. There are three main reasons for exploring the legged locomot...

Compared to human locomotion capabilities, today’s bipedal robots are still lacking in efficiency, velocity, and robustness. Thus, a control concept for dynamic walking based on insights into human motion control is suggested. Key features include the exploitation of passive dynamics, no usage of a full dynamic model, and hierarchical, distributed control. Walking robustness in presence of unkn...

Passive dynamic walking models capture the natural dynamics of stable human-like walking. The passive compass gait (PCG) model, consisting of a point mass and two rigid legs, is among the simplest of such models. The fully passive nature of these models, however, necessitates a sloped ground to recover the energy lost during the ground collisions [1]. A variety of methods have been proposed to ...