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


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

October 1, 2009
March 12, 2010
June 20, 2010
passive dynamic walk, biped robots, outdoor environments

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:
Kazuyuki Hyodo, Sadayoshi Mikami, and Sho’ji Suzuki, “Outdoor Environments Walking by Biped Passive Dynamic Walker with Constraint Mechanism,” J. Robot. Mechatron., Vol.22, No.3, pp. 363-370, 2010.
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Last updated on Jan. 20, 2022