Gait Generation and Control for Biped Robots Based on Passive Dynamic Walking

DOI Web Site 27 Citations 20 References
  • Asano Fumihiko
    Bio-Mimetic Control Research Center, RIKEN
  • Luo Zhi-Wei
    Bio-Mimetic Control Research Center, RIKEN
  • Yamakita Masaki
    Bio-Mimetic Control Research Center, RIKEN Graduate School of Science and Engineer, Tokyo Institute of Technology

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  • 受動歩行を規範とした２足ロボットの歩容生成と制御
  • ジュドウ ホコウ オ キハン ト シタ 2ソク ロボット ノ ホヨウセイセイ ト セイギョ

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Abstract

This paper studies basic mechanisms of passive dynamic walking from the mechanical energy point of view, and proposes novel gait generation and control methods based on the passive dynamic walking. Firstly, we show the uniform property of passive dynamic walking that, the walking system's mechanical energy increases proportionally with respect to the position of the system's center of gravity, which results in an interesting indeterminate equation that determines the relation between the system's control torques and its center of gravity. We then show that active dynamic walking on a level can be realized by solving this equation for the control torques. Furthermore, the applications to robust energy referenced control, as well as the extension for controlling a kneed biped system are discussed. The effectiveness of the proposed methods have been investigated through numerical simulations.

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