Passive/Active Unified Walking Control for Biped Walking Robot (1st Report, Development of Passive/Active Unified Actuator and Applying to Biped Walking Robot)

Abstract

This paper deals with development of a passive/active unified actuator and it's application to a biped walking robot. In order to implement efficiency and environmental adapting ability to a biped walking robot, it is required to combine passive walking and active one. Thus, a passive/active unified actuator that has a torque detector and is actively controlled with zere torque feedback control was developed in this paper. Proposed control scheme includes the passive walking period and the active walking one. In the passive walking period, the self-excited walking control is employed to control the swing leg.