YANBO7 is a passive dynamic locomotion based biped with a free hip pitching joint as in Fig.1. All actuations are basically synchronized to a natural movement of mechanism, which is sensed by touch switch and laser sensing of foot to the floor. By a gyro effect of wheel on each leg, pitching and rolling torque are generated. They are used to excite swing motion of the leg and rolling undulation of whole robot respectively. A relatively small torque of yaw actuation keeps a direction of walking. A kicking force generated by a solenoid on the foot is also used to maintain rolling steps. With these actuation controls, YANBO7 can walk slowly with almost full rolling span and freely without impeding original mechanical movements.
Fig.1 Configuration of YANBO7