Active control of a passive bipedal walking robot

A passive bipedal walking robot can descend down a small slope without any exertion of external force and only by using the gravity force. By exerting a proper energy to a passive biped robot, its walking speed can be controlled and also it can be forced to walk on flat planes and ascending slopes. In this paper, the proper energy is applied to the robot in three different methods: applying a proper moment to the robot joints, applying a proper moment to the robot’s stance leg, and applying a proper movement to the robot’s upper body. It is found that the first method is not practical, but the second and third methods enhance the stability and speed regulation of the robot. Additionally, the robot can walk on flat planes, ascending or descending slopes. The controlling algorithm used in this paper is a nonlinear algorithm based on tracking of a given mechanical energy pass of a bipedal walking robot.

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