Title:
Efficient limit cycle walkers based on principle of passive dynamic walking

Speaker:
ASANO, Fumihiko (JAIST)

Abstract:
Limit cycle walking is a novel approach to gait generation of legged locomotion robots and has become a common practice of biped robot control during the last two decades. Simple dynamic walkers with small actuators can achieve efficient legged locomotion not only on a gentle slope but also on a horizontal floor by utilizing the robot natural dynamics and stability inherent in the limit cycle with impulse effects. In this talk, I will outline energy-efficient dynamic walkers investigated at JAIST, and discuss the problems unsolved and future research directions.