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In order to implement walking efficiency and environmental adapting ability to a biped locomotion, it is required to combine passive dynamic walking and active one. In this paper, a passive/active unified dynamic walking for biped locomotion was proposed. Firstly, a passive/active unified actuator that has a torque detector and is actively controlled by(More)
For the researches of biped walking robot, energy-efficiency is an important issue. We have proposed an optimal trajectory planning method based on a function approximation method, and applied it for 2D biped walking model. With this method, we obtained the solution of minimal square integration value of the input torque. Before that, this method only(More)
In research of biped walking robot, energy-efficiency is an important issue. Full-actuated type robots using ZMP based control have high environmental adjustability and high robustness, but they consume much energy. On the other hand, passive dynamic walking type robots have high energy-efficiency, but they don't have high-environmental adjustability and(More)
For the researches of biped walking robot, energy-efficiency is an important issue. We have proposed an optimal trajectory planning method based on a function approximation method, and applied it for 2D biped walking model. With the method, we obtained the solution of minimal square integration value of the input torque. Before that, this method only(More)
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