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This paper proposes novel energy-based gait generation and control methods for biped robots based on an analysis of passive dynamic walking. First, we discuss the essence of dynamic walking using a passive walker on a gentle slope from the mechanical energy point of view. Second, we propose a simple and effective gait-generation method, which imitates the(More)
Principal mechanisms of passive dynamic walking are studied from the mechanical energy point of view, and novel gait generation and control methods based on passive dynamic walking are proposed. First, a unified property of passive dynamic walking is derived, which shows that the walking system's mechanical energy increases proportionally with respect to(More)
We clarified that the common necessary condition for generating a dynamic gait results from the requirement to restore mechanical energy through studies on passive dynamic walking mechanisms. This paper proposes a novel method of generating a dynamic gait that can be found in the mechanism of a swing inspired by the principle of parametric excitation using(More)
Restoring mechanical energy lost by heel-strike collisions is necessary for stable gait generation. One principle to realize this is parametric excitation. Recently, Asano et al. applied this principle to a biped robot with telescopic-legs, and succeeded in generating a sustainable biped gait by computer simulation. In this paper, we deal with a model of a(More)
This paper investigates the effect of semicircular feet on dynamic bipedal walking. It has been clarified by Asano and Luo (2006) that underactuated virtual passive dynamic walking can be realized by using the rolling effect, which acts as the ankle-joint torque virtually. It has been also shown that, throughout parameter studies, the rolling effect(More)
It is already clarified throughout studies of passive dynamic walking mechanisms that the common nec essary condition for dynamic gait generation comes from the requirement on mechanical energy restoration. Until now we have treated only rotational joints of the robot, whereas in this paper we consider a novel dynamic gait generation method based on(More)
In our previous works, we have proposed " virtual passive dynamic walking " utilizing modified gravity condition with virtual gravity field. The virtual passive walking motion critically depends on the physical parameters and the steady walking pattern is not easily obtained without suitable physical parameters. Based on the observation, in this paper we(More)