Outdoor Environments Walking by Biped Passive Dynamic Walker with Constraint Mechanism
Kazuyuki Hyodo*, Sadayoshi Mikami**, and Sho’ji Suzuki**
*Toyota Tech. Inst., 2-12-1 Hisakata, Nagoya, Aichi 468-8511, Japan
**Future University-Hakodate, 116-2 Kamedanakano, Hakodate-City, Hokkaido 041-8655, Japan
This paper verified the stability of passive dynamic bipedal walking indoors and outdoors using a foot shape enhancing walking stability and implementing control constraint. Outdoor walking is difficult for walkers due to the unpredictable aspects of loose slopes, bumpy surfaces, and uneven friction on roads.
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