This paper proposes a novel energy-based control law for biped robots based on an analysis of passive dynamic walking. Firstly we discuss the essence of dynamic walking wing a passive walker on a gentle slope. In the second, we propose a simple and effective control law which imitates the energy behavior in evev cycle considering the ZMP condition and other factors of the active walker. The control strategy is formed by the feature of mechanical energy dissipation and restoration. By the eflect of the proposed method, the robot can exhibit natural and reasonable walk on a level ground without any gait design in advance. The validity of the proposed method is examined by numerical simulations and experiments.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.