Acquiring passive dynamic walking based on ballistic walking

In this paper, we propose the layered controller which enables the biped robot adaptively to walk in minimal energy or passive dynamic walk, if possible. This controller consists of two layers; the lower layer stabilizes the walking, while the upper layer tries to realize the minimal energy walking. The torque is applied to the robot in short time after the the free leg leaves the ground, and so the walking is ballistic. Simulation results show that the proposed controller can realize passive dynamic walking successively from ballistic walking in the simple robot model.