Parametric excitation based gait generation for ornithoid walking

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

doi:10.1109/iros.2008.4650839

Cited by 8 publications

(9 citation statements)

References 10 publications

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“…To grow in efficiency, we think that optimization of the physical parameters of the biped robot is needed, for example mass and link length. Another method to grow in efficiency is the parametric excitation based inverse bending walking proposed by Harata et al [9], [10]. We will apply the proposed method to inverse bending walking and then gait become more efficiency.…”

Section: Discussionmentioning

confidence: 99%

“…Harata et al [6], [7] applied the parametric excitation method to a kneed biped robot, in which up-and-down movement of the center of mass was realized by bending and stretching knee, and showed that sustainable gait was generated by knee torque only. Harata et al [9], [10] also proposed parametric excitation based inverse bending walking in which the knee was bent in inverse direction to human.…”

Section: Introductionmentioning

confidence: 99%

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Optimal trajectory design for parametric excitation walking

Banno

Harata

Taji

et al. 2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Parametric excitation walking is one of methods that realize a passive dynamic like walking on the level ground. In parametric excitation walking, up-and-down motion of the center of mass restores mechanical energy and sustainable gait is generated. Walking ability and walking performance strongly depend on the reference trajectory of the center of mass. In this paper, we propose an optimization method for the reference trajectory of parametric excitation walking. There are two problems for optimization. One is that search space of a reference trajectory is inherently infinite dimensional. Another is that it takes long simulation time to generate steady gait for a given reference trajectory. Therefore, the proposing optimization method adopts the following strategy. For the former, we confine the reference trajectory to the quartic spline curve and take the parameter of spline curve as decision variables. For the latter, we discretize the search space and adopt a local search method usually used in combinational optimization problems. We apply the proposed method to a kneed biped robot, and optimize the reference trajectory of its swing leg.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Optimal trajectory design for parametric excitation walking

Banno

Harata

Taji

et al. 2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…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%

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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“…Furthermore, they introduce the newest researches on energy-efficient walking for level ground respectively from semi-passive dynamic walking and active walking with actuators. Y.Harata proposed parametric excitation gait generation method for ornithoid walking and showd that the robot can walk sustainably [11].…”

mentioning

confidence: 99%

Generation of the optimal trajectory for the biped robot

Liu

Tian

et al. 2010

2010 IEEE International Conference on Robotics and Biomimetics

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This paper proposes the methods of generation of the energy-efficient trajectory and the centroid trajectory for the biped robot. Based on the function approximation method, the energy-efficient trajectory between the initial state and the terminal state is generated by converting minimization of energy consuming to minimization of input torques. Reducing the biped robot to an inverted pendulum, the relationship between the energy and the centroid motion for the simplified model is analyzed. And the switch conditions for the stance leg are analyzed too. Then the continuous centriod trajectory can be obtained to avoid the forward or backward falling. Simulation results show that the methods proposed in this paper are valid.

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Parametric excitation based gait generation for ornithoid walking

Cited by 8 publications

References 10 publications

Optimal trajectory design for parametric excitation walking

Optimal trajectory design for parametric excitation walking

Efficient parametric excitation walking with delayed feedback control

Generation of the optimal trajectory for the biped robot

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