Dynamic Walking Analysis of the Ankle-Driven Quasi-Passive Walking  Machines

Toshinari Akimoto; Nobuyuki Terada; Akihiro Matsumoto

doi:10.20965/jrm.2008.p0200

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JRM Vol.20 No.2 pp. 200-205

doi: 10.20965/jrm.2008.p0200

(2008)

Paper:

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Dynamic Walking Analysis of the Ankle-Driven Quasi-Passive Walking Machines

Toshinari Akimoto, Nobuyuki Terada, and Akihiro Matsumoto

Dept. of System Robotics, Toyo University, Kujirai 2100, Kawagoe, Saitama 350-8585, Japan

Received:

September 5, 2007

Accepted:

November 8, 2007

Published:

April 20, 2008

Keywords:

passive-dynamic walking, quasi-passive-dynamic walking, penalty function

Abstract

We designed and developed an ankle-driven quasi-passive dynamic walking machine and modeled it focusing on the double-stance phase for accurate analyzing realistic movement. We used a penalty function to formulate a motion equation and changed the walking speed of an ankle-driven walking machine by changing kick and brake torque. Computer simulation confirmed the feasibility of brake torque from the energy point of view and walking stability.

Cite this article as:

T. Akimoto, N. Terada, and A. Matsumoto, “Dynamic Walking Analysis of the Ankle-Driven Quasi-Passive Walking Machines,” J. Robot. Mechatron., Vol.20 No.2, pp. 200-205, 2008.

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References

[1] T. McGeer, “Passive Dynamic Walking,” Int. J. of Roboics Research, Vol.9, pp. 62-82, 1990.
[2] K. Osuka, “Legged Robots and Control Scheme based on a Sence of Passive DynamicWalking,” J. of Robotics Society of Japan, Vol.20, No.3, pp. 233-236, 2002 (in Japanese).
[3] T. Akimoto and A. Matsumoto, “Development of Quasi-Passive-Dynamic-Walking Machine with Ankle Joint,” Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.73, No.733, pp. 125-130, 2007 (in Japanese).
[4] T. Narikiyo, M. Kobayashi, M. Ito, and S. Hosoe, “Control of the Biped System on the Standing Phase,” IEEJ Transactions on Electronics, Information and Systems, Series C, Vol.103, No.12, pp. 281-286, 1983 (in Japanese).
[5] S. Hirose and Y. Umetani, “The basic considerations on energetic efficiencies of walking vehicle,” Transactions of the Society of Instrument and Control Engineers, Vol.15, No.7, 1979 (in Japanese).
[6] K. Osuka, Y. Sugimoto, and T. Sugie, “Stabilization of Semi-Passive Dynamic Walking based on Delayed Feedback Control,” J. of Robotics Society of Japan, Vol.22, No.2, pp. 193-199, 2004 (in Japanese).
[7] F. Asano, Z. W. Luo, and M. Yamakita, “Gait Generation and Control for Biped Robots Based on Passive Dynamic Walking,” J. of Robotics Society of Japan,Vol.22, No.1, pp. 130-139, 2004 (in Japanese).
[8] J. Camp, “Powered ‘Passive’ dynamic walking,” Master of Engineering Project Report, Cornell University, 1997.
[9] A. A. Grishin, A. M. Formal’sky, A. V. Lensky, and S. V. Zhitomirsky, “Dynamic Walking of a Vehicle With Two Telescpic Legs Controlled by Two Drives,” The Int. J. of Robotics Research, Vol.13, No.2, pp. 137-147, 1994.

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

[1] [1] T. McGeer, “Passive Dynamic Walking,” Int. J. of Roboics Research, Vol.9, pp. 62-82, 1990.

[2] [2] K. Osuka, “Legged Robots and Control Scheme based on a Sence of Passive DynamicWalking,” J. of Robotics Society of Japan, Vol.20, No.3, pp. 233-236, 2002 (in Japanese).

[3] [3] T. Akimoto and A. Matsumoto, “Development of Quasi-Passive-Dynamic-Walking Machine with Ankle Joint,” Transactions of the Japan Society of Mechanical Engineers, Series C, Vol.73, No.733, pp. 125-130, 2007 (in Japanese).

[4] [4] T. Narikiyo, M. Kobayashi, M. Ito, and S. Hosoe, “Control of the Biped System on the Standing Phase,” IEEJ Transactions on Electronics, Information and Systems, Series C, Vol.103, No.12, pp. 281-286, 1983 (in Japanese).

[5] [5] S. Hirose and Y. Umetani, “The basic considerations on energetic efficiencies of walking vehicle,” Transactions of the Society of Instrument and Control Engineers, Vol.15, No.7, 1979 (in Japanese).

[6] [6] K. Osuka, Y. Sugimoto, and T. Sugie, “Stabilization of Semi-Passive Dynamic Walking based on Delayed Feedback Control,” J. of Robotics Society of Japan, Vol.22, No.2, pp. 193-199, 2004 (in Japanese).

[7] [7] F. Asano, Z. W. Luo, and M. Yamakita, “Gait Generation and Control for Biped Robots Based on Passive Dynamic Walking,” J. of Robotics Society of Japan,Vol.22, No.1, pp. 130-139, 2004 (in Japanese).

[8] [8] J. Camp, “Powered ‘Passive’ dynamic walking,” Master of Engineering Project Report, Cornell University, 1997.

[9] [9] A. A. Grishin, A. M. Formal’sky, A. V. Lensky, and S. V. Zhitomirsky, “Dynamic Walking of a Vehicle With Two Telescpic Legs Controlled by Two Drives,” The Int. J. of Robotics Research, Vol.13, No.2, pp. 137-147, 1994.