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1A2-Q01 Bipedal Passive Walking Based on Desired Leg Motion Caused by Hip Spring Mechanism(Passive Walking Robot(2))

Shintaro TAWARA,Takahito WATANABE,Yoshito IKEMATA,Akihito SANO

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)（2012）

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Abstract
We focus on passive walking with upper body by means of cam-spring mechanism. In our earlier work, we realize the passive walking with upper body and demonstrate that efficiency of walking can be improved by the body by means of spring mechanism. In this paper, we demonstrate cam-spring mechanism that easily a just torque property and realize same effect of spring mechanism.
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Key words
desired leg motion,robot2,hip
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