Stabilization of Semi-Passive Dynamic Walking based on Delayed Feedback Control

Abstract

In this paper, we introdude a new control method of semi-passive dynamic walking for a biped walking robot, which uses actuators just only to maintain the passive walking. First, focusing on the contact phase of swing leg, the stability analysis of passive walking robot is performed through a discrete-time system of the robot. Second, we propose a new control method of semi-passive walking based on the delayed feedback control, which does not require any reference trajectory for walking. Finally, the effectiveness of the control law is shown through several sirriulations.