Design of the Passive Dynamic Walking Robot by Applying its Dynamic Properties | Zendy

Masatsugu IRIBE | Zendy; Koichi Osuka | Zendy

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Design of the Passive Dynamic Walking Robot by Applying its Dynamic Properties

Author(s) -

Masatsugu IRIBE,

Koichi Osuka

Publication year - 2007

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2007.p0402

Subject(s) - robot , computer science , mobile robot , robot control , simulation , robot locomotion , control engineering , engineering , artificial intelligence

Most mobile robot development has adopted model-based control. On the other hand, we focused on the passive dynamic walking robot that walks only by its dynamics. If the principle of the passive dynamic walking robot is analyzed and clarified, we could apply it to conventional walking robot control, and improve the performance of it. For this reason we tried to develop new design of the passive dynamic walking robot. In this paper we describe the robot’s dynamic properties, and propose a new design method applying these properties.

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