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- W580938142 abstract "In recent years, research on biped walking robots has been focused on passive dynamic walking. The most important benefit of passive walking is low energy consumption; however, the walking itself is not robust and cannot be sustained without control. To minimize the energy that is used for control, we propose a simple switching control method based on phase trajectory. In this paper, we simulate a planar passive biped walker descending a moderate slope and apply the proposed walking control method. A significant improvement in sustainability of walking was achieved with minimal use of energy." @default.
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- W580938142 date "2010-01-01" @default.
- W580938142 modified "2023-10-17" @default.
- W580938142 title "2A2-E21 Passive Dynamic Walking Control Method Based on Phase Trajectory" @default.
- W580938142 doi "https://doi.org/10.1299/jsmermd.2010._2a2-e21_1" @default.
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