BIPEDWALKING WITH BODY VIA KNEE BENDING

摘要

The purpose of this paper is to realize a kind of more natural and efficient walking biped robot. In the beginning of paper, we discuss methods of walking based on passive dynamic walking mechanism and naturalness of walking. Next, we introduce some kinds of walking using knee bending with constraint control of a body and a frequency characteristic are defined. Finally, our biped called Prototype Biped Emu -IV(PBEmu-IV) is introduced, some experimental results are shown to verify the effectiveness of our strategy for biped walking, and the frequency characteristics are revealed for one of walking. As a result, walking frequencies only depended on frequencies of knee bending, and walking is excited around the character frequency of a leg. That is to say, a kind of naturalness of walking is appeared quantitatively as the frequency characteristic.