Utilizing Joint Compliance for Controlling Walking Velocity of the Passive Dynamic Walker
نویسندگان
چکیده
The passive dynamic walker (PDW) has an interesting characteristic that it realizes cyclic locomotion without planning joint trajectories. On the other hand, the walking behavior cannot be controlled because it is dominated by the fixed body dynamics. Observing the human cyclic locomotion that is activated by elastic muscles, we adopt a compliant hip joint on PDW, and we propose the ”phasic dynamics tuner” that tunes the robot body dynamics by changing the hip joint compliance. In order to realize changeable joint compliance, the joint is driven by agonistic and antagonistic McKibben pneumatic actuators around the joint. The experiment results show the effectiveness of the phasic dynamics tuner to change the walking velocity.
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