Recent Development of Passive Dynamic Walking
The focus of this paper is a review on the recent development of passive dynamic walking. Passive dynamic walkers are introduced, from the simple rimless wheel to the recently developed real two legged machines. Control strategies necessary to improve the stability and robustness of locomotion of passive dynamic walkers, such as the hybrid geometric approach and the virtual constraints, are discussed briefly. Finally, the unresolved problems in the field of passive dynamic walking are summarized and directions of further developments are discussed.
Weiguo Pan, Jianxing Ren and Yongguang Li
P. J. Zhang and K. F. Song, "Recent Development of Passive Dynamic Walking", Advanced Materials Research, Vols. 347-353, pp. 3877-3880, 2012