Design of the Passive Dynamic Walking Robot by Applying its Dynamic  Properties

Masatsugu Iribe; Koichi Osuka

doi:10.20965/jrm.2007.p0402

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JRM Vol.19 No.4 pp. 402-408

doi: 10.20965/jrm.2007.p0402

(2007)

Paper:

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Design of the Passive Dynamic Walking Robot by Applying its Dynamic Properties

Masatsugu Iribe^*,** and Koichi Osuka^*

^*Kobe University, 1-1 Rokkoudai-cho, Nada, Kobe 657-8501, Japan

^**Intelligent System Research Lab., Information Technologies Laboratories, Sony Co., 5-12-5 Kita-Shinagawa, Shinagawa-ku, Tokyo, Japan

Received:

January 11, 2007

Accepted:

April 16, 2007

Published:

August 20, 2007

Keywords:

passive dynamic walking robot, dynamic properties, a design method

Abstract

Most mobile robot development has adopted model-based control. On the other hand, we focused on the passive dynamic walking robot that walks only by its dynamics. If the principle of the passive dynamic walking robot is analyzed and clarified, we could apply it to conventional walking robot control, and improve the performance of it. For this reason we tried to develop new design of the passive dynamic walking robot. In this paper we describe the robot’s dynamic properties, and propose a new design method applying these properties.

Cite this article as:

M. Iribe and K. Osuka, “Design of the Passive Dynamic Walking Robot by Applying its Dynamic Properties,” J. Robot. Mechatron., Vol.19 No.4, pp. 402-408, 2007.

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References

[1] T. Ishida, Y. Kuroki, and J. Yamaguchi, “Mechanical System of a Small Biped Entertainment Robot,” Proc. of Int. Conf. on Intelligent Robots and Systems, 2003.
[2] T. McGeer, “Passive Walking With Knee,” Proc. of 1990 IEEE Int. Conf. on Robotics and Automation, 3, pp. 1640-1645, 1990.
[3] A. Goswami, B. Thuilot, and B. Espiau, “Compass-Like Biped Robot – Part I: Stability and Bifurcation of Passive Gaits,” Technical Report 2996, INRIA, 1996.
[4] M. Garcia, A. Chatterjee, A. Ruina, and M. Coleman, “The Simplest Walking Model: Stability, Complexity, and Scaling,” Proc. ASME J. of Biomechanical Engineering, Vol.120, No.2, pp. 281-288, 1998.
[5] Y. Ikemata, A. Sano, and H. Fujimoto, “A Stability Mechanism of the Fixed Point in Passive Walking,” J. of the Robotics Society of Japan, Vol.23, No.7, pp. 839-846, 2005.
[6] Y. Sugimoto and K. Osuka, “Stability Analysis of Passive Dynamic Walking –An approach via interpretation of Poincaré Map’s structure–,” Transactions of the Institute of Systems Control and Information Engineers, Vol.18, No.7, pp. 255-260, 2005.
[7] A. Ishiguro, “Emergence of “Toughness” as the Basis of Intelligence,” J. of the Robotics Society of Japan, Vol.24, No.7, pp. 800-803, 2006.
[8] K. Osuka, Y. Sugimoto, and T. Sugie, “Stabilization of Semi-Passive Dynamic Walking based on Delayed Feedback Control,” J. of the Robotics Society of Japan, Vol.22, No.2, pp. 193-199, 2004.
[9] M. Iribe and K. Osuka, “Analogy between Passive walking robot and Phase Locked Loop circuit,” Proc. of SICE-ICASE Int. Joint Conf., 2006.
[10] M.Iribe and K. Osuka, “A designing method of the passive dynamic walking robot via analogy with the Phase Locked Loop circuits,” Proc. of 2006 IEEE Int. Conf. on Robotics and Biomimetics (ROBIO 2006), 2006.
[11] K. Osuka, “An Environmental Adaptive Function Concealed in Passive Dynamic Walking,” Proc. of the 7th Conf. of the SICE System Integration Division (SI2006), 2006.
[12] M. Iribe and K. Osuka, “Analysis and stabilization of the passive walking robot via analogy with the Phase Locked Loop circuits,” Proc. of 2006 IEEE-RAS Int. Conf. on Humanoid Robots, 2006.
[13] M. Iribe, T. Fukushima, J. Yamaguchi, and Y. Kuroki, “Development of a New Actuator for a Small Biped Entertainment Robot – Which has Suitable Functions for Humanoid Robots,” Proc. of 30th Annual Conf. of the IEEE Industrial Electronics Society (IECON), 2004.
[14] K. Tsuchiya, “Design Principles of a Complex System,” J. of the Society of Instrument and Control Engineers, Vol.38, No.10, pp. 605-611, 1999.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] T. Ishida, Y. Kuroki, and J. Yamaguchi, “Mechanical System of a Small Biped Entertainment Robot,” Proc. of Int. Conf. on Intelligent Robots and Systems, 2003.

[2] [2] T. McGeer, “Passive Walking With Knee,” Proc. of 1990 IEEE Int. Conf. on Robotics and Automation, 3, pp. 1640-1645, 1990.

[3] [3] A. Goswami, B. Thuilot, and B. Espiau, “Compass-Like Biped Robot – Part I: Stability and Bifurcation of Passive Gaits,” Technical Report 2996, INRIA, 1996.

[4] [4] M. Garcia, A. Chatterjee, A. Ruina, and M. Coleman, “The Simplest Walking Model: Stability, Complexity, and Scaling,” Proc. ASME J. of Biomechanical Engineering, Vol.120, No.2, pp. 281-288, 1998.

[5] [5] Y. Ikemata, A. Sano, and H. Fujimoto, “A Stability Mechanism of the Fixed Point in Passive Walking,” J. of the Robotics Society of Japan, Vol.23, No.7, pp. 839-846, 2005.

[6] [6] Y. Sugimoto and K. Osuka, “Stability Analysis of Passive Dynamic Walking –An approach via interpretation of Poincaré Map’s structure–,” Transactions of the Institute of Systems Control and Information Engineers, Vol.18, No.7, pp. 255-260, 2005.

[7] [7] A. Ishiguro, “Emergence of “Toughness” as the Basis of Intelligence,” J. of the Robotics Society of Japan, Vol.24, No.7, pp. 800-803, 2006.

[8] [8] K. Osuka, Y. Sugimoto, and T. Sugie, “Stabilization of Semi-Passive Dynamic Walking based on Delayed Feedback Control,” J. of the Robotics Society of Japan, Vol.22, No.2, pp. 193-199, 2004.

[9] [9] M. Iribe and K. Osuka, “Analogy between Passive walking robot and Phase Locked Loop circuit,” Proc. of SICE-ICASE Int. Joint Conf., 2006.

[10] [10] M.Iribe and K. Osuka, “A designing method of the passive dynamic walking robot via analogy with the Phase Locked Loop circuits,” Proc. of 2006 IEEE Int. Conf. on Robotics and Biomimetics (ROBIO 2006), 2006.

[11] [11] K. Osuka, “An Environmental Adaptive Function Concealed in Passive Dynamic Walking,” Proc. of the 7th Conf. of the SICE System Integration Division (SI2006), 2006.

[12] [12] M. Iribe and K. Osuka, “Analysis and stabilization of the passive walking robot via analogy with the Phase Locked Loop circuits,” Proc. of 2006 IEEE-RAS Int. Conf. on Humanoid Robots, 2006.

[13] [13] M. Iribe, T. Fukushima, J. Yamaguchi, and Y. Kuroki, “Development of a New Actuator for a Small Biped Entertainment Robot – Which has Suitable Functions for Humanoid Robots,” Proc. of 30th Annual Conf. of the IEEE Industrial Electronics Society (IECON), 2004.

[14] [14] K. Tsuchiya, “Design Principles of a Complex System,” J. of the Society of Instrument and Control Engineers, Vol.38, No.10, pp. 605-611, 1999.

Design of the Passive Dynamic Walking Robot by Applying its Dynamic Properties

Masatsugu Iribe*,** and Koichi Osuka*

Masatsugu Iribe^*,** and Koichi Osuka^*