Efficient Walking With Torso Using Natural Dynamics

Many pieces of research have been done on biped robots so far. ASIMO, HRP2, QRIO and so on have been developed. The concern for them has generally become strong. Many biped robots have used the conventional control method based ZMP (zero moment point). A well-designed biped robot has its own natural dynamics suitable for efficient walking. Walking which makes good use of natural dynamics is not using inertial forces generated by actuators but using gravitational forces. The typical example using it is a passive dynamic walking machine which can descend slope though it doesn´t have any actuators. Natural dynamics is not considered in the conventional control method based ZMP. In addition, it has the problem on autonomous adaptation. In this paper, we report on a biped robot: ´Tetsuro´ designed with consideration of natural dynamics, and indicate the control method based inverted pendulum, simulation using a model of three links and experiment results which achieved efficient walking.