著者

衣笠 哲也 大須賀 公一 細川 智生

出版者

日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.22, no.2, pp.200-206, 2004-03-15 (Released:2010-08-25)

参考文献数

14

被引用文献数

2 2

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The purpose of this paper is to show the realization of passive walking of a biped robot Emu that is composed of 1 body and 2 legs. In the beginning of this paper, we fomulate the problem and analyze the stability of the walking with attitude control of a body. The walking is called “semi-passive walking”. We show, next, a numerical simulation on the semi-passive walking. Finally, we show some experimental results to verify a validity of the semi-passive walking and the analysis.