Parametrically excited inverted double pendulum and efficient bipedal walking with an upper body

Honjo, Toyoyuki; Nagano, Akinori; 羅, 志偉

doi:10.1017/s0263574713000088

Cited by 3 publications

(2 citation statements)

References 23 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Therefore, the velocity of the model just after heel-strike is obtained by equations ( 20) and ( 23), where I is the identity matrix 24)…”

Section: Heel-strikementioning

confidence: 99%

“…Chyou et al 23 studied an ideal passive dynamic biped walker that had two straight legs, arms, and an upper body and showed that good integration of the upper and lower body can improve the stability, efficiency, and speed of the passive dynamic walker when walking downhill. Furthermore, Honjo et al 24 proposed the parametric excitation of an inverted double pendulum to consider both lower body and upper body dynamics and found that the model achieved better energy efficiency in walking with an enlargement of the desired upper pendulum angle. In this respect, the efficiency produced with a heavy upper body is close to that of human walking.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Effects of upper body parameters on biped walking efficiency studied by dynamic optimization

Fang

et al. 2016

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

Walking efficiency is one of the considerations for designing biped robots. This article uses the dynamic optimization method to study the effects of upper body parameters, including upper body length and mass, on walking efficiency. Two minimal actuations, hip joint torque and push-off impulse, are used in the walking model, and minimal constraints are set in a free search using the dynamic optimization. Results show that there is an optimal solution of upper body length for the efficient walking within a range of walking speed and step length. For short step length, walking with a lighter upper body mass is found to be more efficient and vice versa. It is also found that for higher speed locomotion, the increase of the upper body length and mass can make the walking gait optimal rather than other kind of gaits. In addition, the typical strategy of an optimal walking gait is that just actuating the swing leg at the beginning of the step.

show abstract

“…Therefore, the velocity of the model just after heel-strike is obtained by equations ( 20) and ( 23), where I is the identity matrix 24)…”

Section: Heel-strikementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Effects of upper body parameters on biped walking efficiency studied by dynamic optimization

Fang

et al. 2016

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

Effect of the Dynamics of a Horizontally Wobbling Mass on Biped Walking Performance

Kamimura

Sano

2023

2023 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

Effect of Trunk Swinging Behaviors on Planar Bipedal Walking with an Upper Body on Gentle Slope

Honjo

Yoshida

2019

JRM

View full text Add to dashboard Cite

Bipedal walking locomotion is one of the characteristics of human behavior. Both the lower body and the upper body (trunk) behaviors affect walking characteristics. To achieve a suitable gait, it is important to understand the effect of the trunk behavior. Therefore, in this paper, the effects of three types of trunk swinging behavior on planar bipedal gait in a model with an upper body – forward swinging, backward swinging, and no swinging – were evaluated using numerical simulations. To reduce control inputs and reflect the effect of upper body behavior, an underactuated bipedal walker without knee joints was adopted. This walker walked down a gentle slope using only hip actuation between the stance leg and the trunk. As a result, unique gait characteristics that depended on the direction of the trunk swinging behavior were found, including a longer step length and a lower-frequency gait with forward trunk swinging behavior and a shorter step length and higher-frequency gait with smaller angular momentum with backward trunk swinging behavior.

show abstract

Parametrically excited inverted double pendulum and efficient bipedal walking with an upper body

Cited by 3 publications

References 23 publications

Effects of upper body parameters on biped walking efficiency studied by dynamic optimization

Effects of upper body parameters on biped walking efficiency studied by dynamic optimization

Effect of the Dynamics of a Horizontally Wobbling Mass on Biped Walking Performance

Effect of Trunk Swinging Behaviors on Planar Bipedal Walking with an Upper Body on Gentle Slope

Contact Info

Product

Resources

About