Virtual passive dynamic walking and energy-based control laws

Asano, Fumihiko; Yamakita, Masaki; Furuta, K.

doi:10.1109/iros.2000.893174

Cited by 66 publications

(36 citation statements)

References 9 publications

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“…To realize such quasi-passive dynamic walkers, the actuators should realize both active and passive motions. Although several researchers adopted electrical motors with reduction gears that can provide large torque [4,5], the back-drivability cannot be preserved because of its friction, and therefore, it is difficult to swing the leg in a passive manner. Sugimoto and Osuka adopted direct-drive motors which made the weight of the robot heavy [3].…”

Section: Introductionmentioning

confidence: 99%

Controlling Walking Period of a Pneumatic Muscle Walker

Takenaka

Hosoda

Ogino

et al. 2005

Climbing and Walking Robots

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Summary.A passive dynamic walker can walk down a shallow slope without any actuation. If the dynamics of the biped is effectively utilized to realize passive walking, the robot walks with energy-less locomotion. An antagonistic pair of pneumatic actuators is one candidate to realize such quasi-passive walking using both passive and active motions like some animals do. This paper presents a simple control of to enlarge the stability of biped walking utilizing passive dynamics. First, we introduce the design of the biped robot used for experiments with antagonistic pairs of pneumatic actuators. Then, we propose to regulate opening duration of the valves based on the observed walking cycle. Finally, experimental results are shown to demonstrate the effectiveness of the proposed control scheme.

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Section: Introductionmentioning

confidence: 99%

Controlling Walking Period of a Pneumatic Muscle Walker

Takenaka

Hosoda

Ogino

et al. 2005

Climbing and Walking Robots

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“…It was found that the toe-off actuation is advantageous compared to other types of actuation because it decreases the collision loss at heel strike. Other methods for active walking on level ground were also presented [9][10][11]. Studies in passive dynamic walkers have revealed that energy-efficient bipedal robots that can exhibit human-like locomotion could be built without very complicated controllers [12].…”

Section: Introductionmentioning

confidence: 99%

Dynamics, stability, and actuation methods for powered compass gait walkers

Şafak¹

2014

Turk J Elec Eng & Comp Sci

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Abstract:In this paper, methods to achieve actively powered walking on level ground using a simple 2-dimensional walking model (compass-gait walker) are explored. The walker consists of 2 massless legs connected at the hip joint, a point mass at the hip, and an infinitesimal point mass at the feet. The walker is actuated either by applying equal joint torques at the hip and ankle, by an impulse applied at the toe off, immediately before the heel strike, or by the combination of both. It is shown that actuating the walker by equal joint torques at the hip and ankle on level ground is equivalent to the dynamics of the passive walker on a downhill slope. The gait cycle for the simplified walker model is determined analytically for a given initial stance angle. Stability of the gait cycle by an analytical approximation to the Jacobian of the walking map is calculated. The results indicate that the short-period cycle always has an unstable eigenvalue, whereas stability of the long-period cycle depends on selection of the initial stance angle. The effect of the torso mass by adding a third link attached at the hip joint is investigated. The torso link is kept in the vertical position by controlling the torque applied to it. The proportional-derivative control law is utilized to regulate the angular position error of the torso link. Using linearized dynamics for this walker, active control is applied to the ankle, which reduces the dynamics of the walker to the passive walker without the torso. The proposed walker is capable of producing stable walking while keeping the torso in an upright position.

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“…in the face of a destabilizing disturbance) with existing ZMP-based strategies. Alternatively, it can be used to increase the narrow regions of attraction which plague minimally actuated passive dynamic walkers [12], [13], [14]. The key concept here is that the FPE-based integration would require minimal joint actuation only to align a swing food appropriately to recover from a potential fall.…”

Section: Introductionmentioning

confidence: 99%

Gait generation via the Foot Placement Estimator for 3D bipedal robots

Choudhury

Kulić

2013

2013 IEEE International Conference on Robotics and Automation

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Abstract-This paper proposes a trajectory generation and control strategy for generating stable gait subject to unknown disturbances, based on the concept of the Foot Placement Estimator (FPE). While most walking control strategies in the field of bipedal locomotion aim to constantly maintain balance, the Foot Placement Estimator (FPE) estimates where the foot must be placed in order to restore balance. One of the key novelties of the FPE approach is its natural extension to form complete gait cycles using a state machine and simple proportional-derivative controllers. In this paper, the FPE control strategy is extended from 2D to 3D robots, and demonstrated in simulation on a 14-DOF lower body bipedal robot.

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Virtual passive dynamic walking and energy-based control laws

Cited by 66 publications

References 9 publications

Controlling Walking Period of a Pneumatic Muscle Walker

Controlling Walking Period of a Pneumatic Muscle Walker

Dynamics, stability, and actuation methods for powered compass gait walkers

Gait generation via the Foot Placement Estimator for 3D bipedal robots

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