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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.

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