Development of Anthropomorphic Robot Realizing High Speed and Efficient Level Ground Walking Based on Physical Principle of Passive Walking

根据被动行走的物理原理，被动步行者成功地连续行走了13小时45分钟，目前已获得吉尼斯世界纪录的资格。活动的领域从斜坡延伸到我们的生活空间（平地），因为人类应用最小的辅助。拟人化的被动步行者是被动步行者的步态与人类的步态之间的一种密切相似之处，我们甚至会感觉到某人的迹象。上半身的效果提高了行走的效率，而腰部关节的扭矩则充分有效的作用于腿部和膝盖的运动，并减少了摔倒。作为高速运动，已经实现了10 km/h级别的运行。

Based on the physical principle of a passive walking, the passive walker succeeded in the continuous walking for 13 hours and 45 minutes, and has been qualified as a Guinness world record so far. The field of activity was extended from the slope to our life space(level ground) because humans apply minimum assist. The biped anthropomorphic passive walker is a close resemblance between the gait of passive walker and that of human race, and we will feel even a sign of somebody. The effect of an upper body improved the efficiency of walking, and waist joint torque is fully effective in the movement of legs and knees, and reduced the fall. As high-speed locomotion, a run of a 10-km/h class has been realized.