Models
The original model for passive dynamics is based on human and animal leg motions. Completely actuated systems, such as the legs of the Honda Asimo robot, are not very efficient because each joint has a motor and control assembly. Human-like gaits are far more efficient because movement is sustained by the natural swing of the legs instead of motors placed at each joint.
Tad McGeer's 1990 paper "Passive Walking with Knees" provides an excellent overview on the advantages of knees for walking legs. He clearly demonstrates that knees have many practical advantages for walking systems. Knees, according to McGeer, solve the problem of feet colliding with the ground when the leg swings forward, and also offers more stability in some settings.
Passive dynamics is a valuable addition to the field of controls because it approaches the control of a system as a combination of mechanical and electrical elements. While control methods have always been based on the mechanical actions (physics) of a system, passive dynamics utilizes the discovery of morphological computation. Morphological computation is the ability of the mechanical system to accomplish control functions.
Read more about this topic: Passive Dynamics
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