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JRM Vol.20 No.1 pp. 98-105
doi: 10.20965/jrm.2008.p0098
(2008)

Paper:

Frequency Analysis for Biped Walking via Leg Length Variation

Tetsuya Kinugasa, Shoichi Miwa, and Koji Yoshida

Okayama University of Science, 1-1 Ridai-cho, Okayama 700-0005, Japan

Received:
April 24, 2007
Accepted:
September 5, 2007
Published:
February 20, 2008
Keywords:
biped walking, frequency analysis, passive dynamic walking mechanism, self-excited walking
Abstract

We analyzed the frequency response property of a biped realized with a sinusoidal leg length variation. Legs are not activated in the swing phase but excited through length variation, and walking is categorized as “Passive Dynamic Walking.” We provide dynamic and impact models to formulate walking, and define gain and phase properties as the frequency response. Leg length is controlled by a PD method and tracks to reference sinusoidal time functions. In some simulations, a resonance point exists for gain, gain corresponds to efficiency in the sense of consumed energy, and body inclination yields higher walking gain. We discuss the validity of frequency analysis comparing experimental results and simulation results.

Cite this article as:
Tetsuya Kinugasa, Shoichi Miwa, , and Koji Yoshida, “Frequency Analysis for Biped Walking via Leg Length Variation,” J. Robot. Mechatron., Vol.20, No.1, pp. 98-105, 2008.
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