Hostname: page-component-7b7567c8c-2n9c9 Total loading time: 0 Render date: 2026-11-15T15:09:00.520Z Has data issue: false hasContentIssue false
  • English
  • Français

Uphill and level walking of a three-dimensional biped quasi-passive walking robot by torso control

Published online by Cambridge University Press:  15 July 2014

Ying Cao,
Soichiro Suzuki and
Yohei Hoshino
Ying Cao*
Affiliation:
Graduate School of Engineering, Kitami Institute of Technology, Kitami, Hokkaido, Japan
Soichiro Suzuki
Affiliation:
Department of Mechanical Engineering, Kitami Institute of Technology, Kitami, Hokkaido, Japan
Yohei Hoshino
Affiliation:
Department of Mechanical Engineering, Kitami Institute of Technology, Kitami, Hokkaido, Japan
*
*Corresponding author. E-mail: d1171508033@std.kitami-it.ac.jp
Rights & Permissions [Opens in a new window]

Summary

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the 'Save PDF' action button.

Passive walking robots can walk on a slight downward slope powered only by gravity. We propose a novel control strategy based on forced entrainment to stabilize a three-dimensional quasi-passive walking robot in uphill and level walking by using torso control in the frontal plane and synchronization of lateral motion with swing leg motion. We investigated the robot's walking energy efficiency, energy transformation, and transfer in simulation. The results showed that the proposed method is effective and energy-efficient for uphill and level walking. The relationship between energy utilization rate of actuation and energy efficiency of the robot was revealed, and mechanical energy transformation and transfer were characterized.

Keywords

Biped robotPassive walkingTorso controlForced entrainmentEnergy efficiencyEnergy transformationEnergy transfer

Information

Type
Articles
Information
Robotica , Volume 34 , Issue 3 , March 2016, pp. 483 - 496
Copyright
Copyright © Cambridge University Press 2014 

References

1.McGeer, T., “Passive dynamic walking”, Int. J. Robot. Res. 9 (2), 62–82 (1990).CrossRefGoogle Scholar
2.Goswami, A., Espiau, B. and Keramane, A., “Limit Cycles and Their Stability in a Passive Bipedal Gait,” Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, USA (Apr. 22–28, 1996) pp. 246–251.Google Scholar
3.Collins, S. H., Ruina, A., Tedrake, R. and Wisse, M., “Efficient bipedal robots based on passive dynamic walkers,” Sci. Magazine 307, 1082–1085 (2005).Google ScholarPubMed
4.Harata, Y., Asano, F., Luo, Z. W., Taji, K. and Uno, Y., “Biped gait generation based on parametric excitation by knee-joint actuation,” Robotica 27 (7), 1063–1073 (2009).CrossRefGoogle Scholar
5.Tedrake, R., Zhang, T. W., Fong, M. and Seung, H. S., “Actuating a Simple 3D Passive Dynamic Walker,” Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, LA, USA (Apr. 26–May 1, 2004) pp. 4656–4661.CrossRefGoogle Scholar
6.Nakanishi, D., Sueoka, Y., Sugimoto, Y., Ishikawa, M., Osuka, K. and Sankai, Y., “Emergence and Motion Analysis of 3D Quasi-Passive Dynamic Walking by Excitation of Lateral Rocking,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura (Oct. 7–12, 2012) pp. 2769–2774.CrossRefGoogle Scholar
7.McGeer, T., “Dynamics and control of bipedal locomotion,” J. Theoretical Biol. 163 (3), 277–317 (1993).CrossRefGoogle ScholarPubMed
8.Wisse, M., Schwab, A. L. and van der Helm, F. C. T., “Passive dynamic walking model with upper body,” Robotica 22 (6), 681–688 (2004).CrossRefGoogle Scholar
9.Narukawa, T., Takahashi, M. and Yoshida, K., “Efficient walking with optimization for a planar biped walker with a torso by hip actuators and springs,” Robotica 29 (4), 641–648 (2010).CrossRefGoogle Scholar
10.Kuo, A. D., “Stabilization of lateral motion in passive dynamic walking,” Int. J. Robot. Res. 18 (9), 917–930 (1999).CrossRefGoogle Scholar
11.Suzuki, S. and Hachiya, M., “Experimental study on stabilization of a three-dimensional biped passive walking robot,” J. Soc. Biomech. (Japanese) 32 (4), 239–246 (2008).CrossRefGoogle Scholar
12.Hachiya, M. and Suzuki, S., “Stabilization of a biped quasi passive walking robot via periodic input”, J. Soc. Biomech. (Japanese) 33 (1), 57–63 (2009).CrossRefGoogle Scholar
13.Suzuki, S, Takada, M and Iwakura, Y, “Stability control of a three-dimensional passive walker by periodic input based on the frequency entrainment,” J. Robot. Mechatronics 23 (6), 1100–1107 (2011).CrossRefGoogle Scholar
14.Suzuki, S., Cao, Y., Takada, M. and Oi, K., “Climbing and turning control of a biped passive walking robot by periodic input based on frequency entrainment,” Adv. Eng. Forum 2 (3), 48–52 (2011).CrossRefGoogle Scholar
15.Smith, R., “Open Dynamics Engine v. 0.5 User Guide,” Available at: http://ode.org; (2006).Google Scholar
16.Rand, R., “Lecture Notes on Nonlinear Vibrations,” Available at: http://ecommons.library.cornell.edu/handle/1813/28989; (2012).Google Scholar
17.Hobbelen, D. G. E. and Wisse, M., “Limit Cycle Walking,” In: Humanoid Robots, Human-like Machines (M. Hackel, ed.), Chap. 14. (I-Tech Education and Publishing, Vienna, Austria, 2007).Google Scholar
18.Srinivasan, M. and Ruina, A., “Computer optimization of a minimal biped model discovers walking and running,” Nature 439, 72–75 (2005).CrossRefGoogle ScholarPubMed
19.Collins, S. H. and Ruina, A., “A Bipedal Walking Robot With Efficient and Human-like Gait,” Proceedings of IEEE International Conference on Robotics and Automation, Barcelona, Spain (Apr. 18–22, 2005) pp. 1983–1988.Google Scholar
20.Donelan, J. M., Kram, R. and Kuo, A. D., “Simultaneous positive and negative external mechanical work in human walking,” J. Biomech. 35 (1), 117–124 (2002).CrossRefGoogle ScholarPubMed