Biped gait generation based on parametric excitation by knee-joint actuation

Harata, Yuji; Asano, Fumihiko; Zhang, Luo; Taji, Kouichi; Uno, Yoji

doi:10.1017/s0263574709005487

Cited by 33 publications

(37 citation statements)

References 6 publications

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“…The Jacobian J I is derived by differentiating (7) and by incorporating (8). The velocity of the generalized coordinate after heel strike becomeṡ…”

Section: Impact Equationmentioning

confidence: 99%

“…We explain the parametric excitation walking for a kneed biped robot [8]. In the parametric excitation methods, the up-and-down motion of CoM restores mechanical energy lost by heel strike.…”

Section: Parametric Excitation Walkingmentioning

confidence: 99%

“…Osuka and Kirihara showed that bifurcation occurred in real biped robot experiments [11]. In parametric excitation walking [8,9], it is also observed that period-two walking appears when the bending angle of a knee is large. Asano et al have recently shown that bifurcation exerts an adverse influence upon walking performance by using a rimless wheel model [12].…”

Section: Introductionmentioning

confidence: 96%

“…Asano et al [6,7] applied parametric excitation principle to a biped robot with telescopic legs by pumping swing-leg mass. Harata et al [8,9] applied the parametric excitation principle to a kneed biped robot. In similar to a telescopic leg, bending and stretching a swing-leg knee causes up-and-down motion of CoM of a swing-leg.…”

Section: Introductionmentioning

confidence: 99%

“…In this paper, we apply DFC to the parametric excitation walking proposed by Harata et al [8]. The purpose of introducing DFC is to suppress bifurcation.…”

Section: Introductionmentioning

confidence: 99%

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Efficient parametric excitation walking with delayed feedback control

et al. 2011

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In passive dynamic walking proposed by McGeer, mechanical energy lost by heel strike is restored by transporting potential energy to kinetic energy as walking down a slope. When energy input is larger as a slope is steeper, the bifurcation of a walking cycle occurs. In the parametric excitation walking, which is to realize passive dynamic-like walking on the level ground, the bifurcation of a walking cycle has also been observed when walking speed is This paper is the completed and extended version of the conference proceeding of IROS 2009 [1].fast. Recently, Asano et al. have shown that bifurcation exerts an adverse influence upon walking performance by using a rimless wheel model. In this paper, we apply the delayed feedback control (DFC), originally used in chaos control, to parametric excitation walking to suppress bifurcation. We show in numerical simulation that the proposed method makes periodtwo walking to period-one walking, and improves energy efficiency. In addition, the proposed method can generate a sustainable gait in the region where a biped robot cannot walk without DFC. The analyses using a Poincaré map reveal that period-one walking with DFC corresponds to an unstable periodic orbit and reveal that a robot model in this paper satisfies the sufficient condition of applicability of DFC.

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“…The Jacobian J I is derived by differentiating (7) and by incorporating (8). The velocity of the generalized coordinate after heel strike becomeṡ…”

Section: Impact Equationmentioning

confidence: 99%

Section: Parametric Excitation Walkingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 96%

Section: Introductionmentioning

confidence: 99%

“…In this paper, we apply DFC to the parametric excitation walking proposed by Harata et al [8]. The purpose of introducing DFC is to suppress bifurcation.…”

Section: Introductionmentioning

confidence: 99%

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Efficient parametric excitation walking with delayed feedback control

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A simple walking strategy for biped walking based on an intermittent sinusoidal oscillator

Tan

Chen

2009

Robotica

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SUMMARYThis paper presents a control algorithm for biped walking by extension of previous work in the fields of central pattern generator (CPG) and passive walking. The algorithm takes advantage of the passive dynamics of walking, assisting only when necessary with an intermittent sinusoidal oscillator. The parameterized oscillator is used to drive the hip joint; the triggering and ceasing of the oscillator during a walking cycle can be modulated by the sensory feedback. The results from simulation indicate a stable, efficient gait, and robustness against model inaccuracy and environmental variation. We also examine the effects of oscillator parameters and link parameters on the gait, and design a controller to suppress the bifurcation phenomenon based on the error of prior step periods.

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An optimization method for the reference trajectory of parametric excitation walking

Taji¹,

Banno²,

Harata³

2010

Robotica

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In parametric excitation walking, up-and-down motion of the center of mass restores mechanical energy and sustainable gait is generated. Not only walking performance but also walking ability strongly depends on the reference trajectory of the center of mass. In this paper, we propose an optimization method for the reference trajectory, in which the reference trajectory is confined to the quartic spline curves and the parameters of spline curves are optimized by a local search method usually used in combinatorial optimization. We apply the proposed method to a kneed biped robot and find some remarkably interesting results by numerical simulations.

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Biped gait generation based on parametric excitation by knee-joint actuation

Cited by 33 publications

References 6 publications

Efficient parametric excitation walking with delayed feedback control

Efficient parametric excitation walking with delayed feedback control

A simple walking strategy for biped walking based on an intermittent sinusoidal oscillator

An optimization method for the reference trajectory of parametric excitation walking

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