Adding an Upper Body to Passive Dynamic Walking Robots by Means of a Bisecting Hip Mechanism

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Abstract
Passive dynamic walking is a promising idea for the development of simple and efficient two-legged walking robots. One of the difficulties with this concept is the addition of a stable upper body; on the one hand, a passive swing leg motion must be possible, whereas on the other hand, the upper body (an inverted pendulum) must be stabilized via the stance leg. This paper presents a solution to the problem in the form of a bisecting hip mechanism. The mechanism is studied with a simulation model and a prototype based on the concept of passive dynamic walking. The successful walking results of the prototype show that the bisecting hip mechanism forms a powerful ingredient for stable, simple, and efficient bipeds