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| Passive Dynamic Biped Walking: A Survey |
| MAO Yong, WANG Jia-xin, JIA Pei-fa, HAN Zhuo |
| State Key Laboratory of Intelligent Technology and Systems, Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China |
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Abstract This paper surveys the current status and characteristics of passive dynamic walking.The mechanical structures and driving system designs of several passive walking robots are given.The research methods for the stability,energy efficiency and control scheme of passive bipeds are overviewed.To conclude,this paper points out the main difficulties and the future works in this field.
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Received: 23 May 2006
Published: 15 May 2007
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