A design method for practically used walking machine

This paper presents a constructing method for practically used walking machine. For optimal motion, it must have as long a cruising range as possible, and to improve energy cost it should have a powder clutch joint driving system with an engine actuator. We develop applicable leg mechanism with GDA (gravitationally decoupled actuation) to the proposed driving system. Moreover, feasible joint control system for the proposed driving system with powder clutches is designed and implemented by using sliding mode control. From comparison result of this type of driving system with that of a DC motor actuated system, even though power to weight ratio cannot be improved effectively, cruising range is three times longer than DC motor type. Therefore, this type of walking machine can be suitable for personally used walking machine in term of cruising range, cost, and size