From passive to active dynamic walking (Q2716795)

This paper considers a walking robot with knees on level ground imitating the passive walking on a slope using a small control. The basic feature of the proposed controller is that the dynamics of the active walking robot is matched to that of the passive walking one. The control is activated in a region of the phase space so that at the boundary of the region, which is determined by changes of constraints of leg motions, the state is controlled to a desirable one. The passive walking robot is first actively controlled to continue to walk with an actuator at the hip. Then, the dynamics of the walking robot on the level ground is matched to that of the stabilized passive walking robot on the slope by implementing actuators at the ankles as well as at the hip. It is shown via numerical simulation for an experimental robot that successful walk can be achieved without any gait planning.