Passive dynamic autonomous control of bipedal walking

摘要

This paper proposes the novel control method named passive dynamic autonomous control. PDAC is based on the following concept which Grizzle et al. (2001, 2004) used previously: 1) point-contact 2) interlocking. Point-contact means that the contact state between a robot and the ground is made point. This makes it possible to control based on the robot inherent dynamics although the control becomes difficult. We present the new approach using this concept to describe the robot dynamics as a 1-DOF autonomous system. By means of PDAC, stable 3-dimensional walking based on the robot inherent dynamics is realized.