Development and motion control of a biped walking robot based on passive walking theory

@article{Lee2013DevelopmentAM,
  title={Development and motion control of a biped walking robot based on passive walking theory},
  author={Jae Hoon Lee and Shingo Okamoto and Hisashi Koike and Keiya Tani},
  journal={Artificial Life and Robotics},
  year={2013},
  volume={19},
  pages={68-75}
}
This research aims to develop the biped walking robot that can walk on the horizontal ground and improve walking efficiency by utilizing the theory of the passive walking robot, namely the pendulum principle. For that, two motors were installed on the hip of the robot to generate the control torques to perform a walking motion. The computer simulations with… CONTINUE READING