Passive-joint-based dynamic biped walk
- Proposal of Passive-joint-based dynamic control that An ankle joint of a biped robot is passive and The other joints are controlled based on the passive joint.
- Realization of an inverted pendulum dynamics which is derived from its own dynamics and of passivity using Passive-joint-based control.
- Passivity of motion separates the desired trajectories of all actuated joints from time function so that a safe and low-energy-consumptive walk is realized.
Fig.1: Concept of Passive-joint-based dynamic control
Fig.2: Flow of Passive-joint-based dynamic control
Fig.3: Passive-joint-based dynamic walk