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JRM Vol.22 No.3 pp. 363-370
doi: 10.20965/jrm.2010.p0363
(2010)

Paper:

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

Received:
October 1, 2009
Accepted:
March 12, 2010
Published:
June 20, 2010
Keywords:
passive dynamic walk, biped robots, outdoor environments
Abstract

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.

Cite this article as:
K. Hyodo, S. Mikami, and S. Suzuki, “Outdoor Environments Walking by Biped Passive Dynamic Walker with Constraint Mechanism,” J. Robot. Mechatron., Vol.22, No.3, pp. 363-370, 2010.
Data files:
References
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Last updated on Jul. 04, 2020