Abstract
In this research, a semi-active bipedal robot which utilizes the energy interaction in the natural dynamics is proposed. The proposed bipedal robot can reduce the power consumption of actuators and improve the walking energetics. Besides keeping the inherent power-saving performance of passive bipedal robot, the semi-active bipedal robot also possesses the capability and stability provided by actively powered robot. The feasibility of the control strategy on a semi-active bipedal robot has been simulated and verified by computer-aided software. Moreover, the hardware, including the mechanism, actuators/sensors, and electronic circuits, of the bipedal robot has already been constructed. The control algorithms has also been realized and the robot can achieve the desired walking performance.