Passive walking of Emu with attitude control of body

The purpose of this paper is to show the realization of semi-passive walking of a biped robot, Emu, that is composed of one body and two legs. Semi-passive walking means that the biped robot walks passively on a gentle descent accompanied by attitude control of the body. First, we outline the formulation for passive and semi-passive walking. Next, we analyze the stability of semi-passive walking regarding the system as a discrete dynamical system. Finally, we show some simulated results and experimental results to verify the validity of the controlled system and the analysis.