Robustness of semi-passive dynamic walking models for steep slopes

Passive Dynamic Walker can descend a shallow slope only using an initial velocity and the gravity. It has good energy efficiency because it does not require any actuator. However, it has been known that it cannot walk on a steep slope. Controlled walking models, called “semi-passive dynamic walkers” are considered in this research to accomplish stable walking on the steep slope. The experimental model is defined as the compass shaped model which has control to the hip joint and ankle joint. Three different controlled models are tested to investigate the characteristics of walking. As the result the controlled model accomplishes steep slope walking and it has some robustness to the angle of the slope if sufficient torque is added.