Efficient bipedal walking using natural dynamics and delayed stepping reflex

The most popular control method for bipedal walking robots is the zero moment point-based (ZMP-based) control method. In this method, the torso is accelerated and decelerated by the motors in every step. This is not energetically efficient because natural dynamics is not used. Natural dynamics involves the generation of motion using the mechanical features of the machine, i.e. without using motors (as far as possible). A well-designed biped robot has its own natural dynamics that are suitable for efficient walking. Such natural dynamics is not considered in the zero-moment point (ZMP)-based control method. In the present paper, a biped robot called 'Tetsuro', which is designed considering natural dynamics, is presented, and an inverted pendulum based control method and delayed stepping reflex, which can generate efficient treadmill walking, are described. (C) 2008 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.