Three-dimensional dynamic bipedal walking based on passive dynamic walking mechanism using telescopic knee via phase oscillator with ground reaction force

This study aims to generate 3-D dynamic bipedal walking using two oscillators of a CPG approach based on its body dynamics. First, a 3-D biped, which inherited the aspect of the previous passive dynamic walker, was developed that contained flat feet with pressure sensors, ankle joints composed of ball joints surrounded by coil springs, telescopic knees, and actuated hip joints using a direct drive (DD) motor. The torso was controlled by the DD motors using a PD control scheme. Next, the Owaki–Ishiguro method was used with ground contact information in the phase oscillator to the knee joint. Finally, experimental tests were conducted to elucidate the effectiveness of the biped. A 3-D dynamic bipedal gait of RW06 was developed using knee oscillation based on the phase oscillator. Bipedal walking was excited only by the knee oscillation; therefore, the gait was strongly affected by the body dynamics.