Mechanical Dynamics That Enables Stable Passive Dynamic Bipedal Running – Enhancing Self-Stability by Exploiting Nonlinearity in the Leg Elasticity –
Dai Owaki and Akio Ishiguro
Dept. of Electrical and Communication Engineering, Tohoku University, 6-6-05 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan
Recently, it has been widely recognized that control and mechanical systems cannot be designed separately due to their tight interdependency. However, there still leaves much to be understood about how well-balanced coupling between control and mechanical systems can be achieved. Therefore, as an initial step toward this goal, we intensively discuss the effect of intrinsic dynamics of a robot’s body on resulting behavior, in the hope that the mechanical systems appropriately designed will allow us to significantly reduce complexity of control algorithm required. More precisely, we focus on the property of leg elasticity of a passive dynamic running biped and investigate how this influences stability of running. As a result, we found that a certain type of nonlinearity in leg elasticity plays a crucial role in enhancing the stability of passive dynamic running. To the best of our knowledge, this has not been explicitly addressed in papers presented thus far.
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