Semi-Passive Walk and Active Walk by One Bipedal Robot: Mechanism, Control and Parameter Identification

We developed a bipedal robot equipped with brake and clutch mechanisms to change the number of active and passive joints, thereby enabling various types of movements including normal active walking using 12-dof joints, under-actuated walking using brake, and passive-based walking using clutch and passive joints. In this paper, we describe three technologies to achieve the proposed system and show experimental results on active and semi-passive...