Motion Generation and Control of Quasi Passsive Dynamic Walking Based on the Concept of Delayed Feedback Control

Recently, Passive-Dynamic-Walking (PDW) has been noticed in the research of biped walking robots. In this paper, focusing on the entrainment phenomena which is the one of character of PDW, we provide a new control method of Quasi-Passive-Dynamic-Walking. Concretely, at first, for the sake of the continuous walking of robot and taking place of the entrainment phenomenon, we adopt a kind of PD control which gains are regulated by the state of the contact phase of swing leg. And, considering the making use of the concept of DFC, we use (k-1)-th trajectory of the walking robot as the reference trajectory of the k-th step. As a result, it can be expected that the robot itself generates the optimum stable trajectory and the walking is stabilized by using this trajectory.