JRM Vol.20 No.5 pp. 785-792
doi: 10.20965/jrm.2008.p0785


Gait Generation for a Walking Robot with Passive Joints

Kazunori Kaede* and Tooru Nogai**

* Graduate school of Science and Engineering, Shizuoka University, 3-5-1 Jyohoku, Naka-ku, Hamamatsu, Shizuoka 432-8561, Japan

** Faculty of Engineering, Shizuoka University, 3-5-1 Jyohoku, Naka-ku, Hamamatsu, Shizuoka 432-8561, Japan

June 18, 2007
January 24, 2008
October 20, 2008
mechatronics, mechanism, robot, moving robot, legged locomotion

We selected a three-legged robot to study passive walking. The robot consists of one actuated leg and one pair of passive legs. The active leg has a knee joint and an ankle joint. The passive legs, which we call “crutches,” have no knee joints, but it do have passive ankle joints. The crutches and the leg are connected by a hip joint. The robot behavior is passive while it supports itself on its crutches and swings its leg. In order for the robot to have a wide stride and be stable after the leg swings out and lands, a referenced trajectory of the leg’s swing is generated by a planar, four-link model simulation to evaluate its posture after the leg lands. The pattern of walking applies to the robot’s actual walk on level ground. An additional walking robot that has a knee joint that is permitted to rotate freely has been designed. The lower leg is equipped with a solenoid magnet which keeps the knee joint straight. The knee joint bends and the leg swings in response to a change in the input torque to the hip joint.

Cite this article as:
Kazunori Kaede and Tooru Nogai, “Gait Generation for a Walking Robot with Passive Joints,” J. Robot. Mechatron., Vol.20, No.5, pp. 785-792, 2008.
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Last updated on Jan. 20, 2022