Motion Analysis and Experiment of Passive Dynamic Walking Robot RWalker-II with Center of Gravity Tansfer Mechanism

摘要

In our previous work, we show that quasi-passive dynamic walking can be realized by the passivedynamic walking robot RWalker-I with torque unit actuator. However, for the passive-dyamic walking of RWalker-I, a slope of any obliquity is required. This paper shows that a passive walking can be realized on the slope of various obliquity by RWalker-II with center of gravity transfer mechanism.