- 日本ロボット学会誌 (ISSN:02891824)
- vol.22, no.2, pp.200-206, 2004-03-15 (Released:2010-08-25)
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.