Practical development of higher speed locomotion of a biped robot with passive wheels

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This work confirmed a method called "Roller walk" for biped robot. The robot only requires passive wheels on its each foot with a special axel mechanism, and a periodic motion of both legs generates propulsive force on the wheel. Hence, no additional motor and controller is required for wheeled mobility enabling higher-speed locomotion. For this work a new biped robot with human-size leg was developed.