Efficient Walking Control of Robot with Torso Based on Passive Dynamic Walking

This paper studies a biped walking robot with torso based on virtual passive dynamic walking. First we realize a walking motion on a slope using input to the torso where the desired angle to the torso is synchronized to the angle between foots. Secondly we introduce criterion functions for the motion and make the walking motion more efficient by adjusting the control parameters. Finally we compare the efficiency of proposed system with conventional methods.