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In our previous works, we have proposed “virtual passive dynamic walking” with virtual gravity for biped robots in order to realize active walking on the level ground without any gait design in advance. In this paper we discuss some control problems of a kneed biped robot and propose “modified compass-like virtual passive dynamic walking” with active(More)
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)
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)
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)
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)
This paper investigates effectiveness of semicircular feet on dynamic biped locomotion. We first introduce the simplest biped model with semicircular feet and show its level walking by hip-joint actuation. In the second, parameter study is performed by adjusting the physical and control parameters. Throughout numerical analysis, it is shown that the(More)