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JRM Vol.19 No.4 pp. 402-408
doi: 10.20965/jrm.2007.p0402
(2007)

Paper:

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

Masatsugu Iribe*,** and Koichi Osuka*

*Kobe University, 1-1 Rokkoudai-cho, Nada, Kobe 657-8501, Japan

**Intelligent System Research Lab., Information Technologies Laboratories, Sony Co., 5-12-5 Kita-Shinagawa, Shinagawa-ku, Tokyo, Japan

Received:
January 11, 2007
Accepted:
April 16, 2007
Published:
August 20, 2007
Keywords:
passive dynamic walking robot, dynamic properties, a design method
Abstract

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.

Cite this article as:
M. Iribe and K. Osuka, “Design of the Passive Dynamic Walking Robot by Applying its Dynamic Properties,” J. Robot. Mechatron., Vol.19, No.4, pp. 402-408, 2007.
Data files:
References
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Last updated on Oct. 18, 2019