Stabilizing Passive Dynamic Walk Under Wide Range of Environments by Constraint Mechanism Fitted to Sole of Foot

Kazuyuki Hyodo; Takeshi Oshimura; Sadayoshi Mikami; Sho'ji Suzuki

doi:10.20965/jrm.2009.p0403

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JRM Vol.21 No.3 pp. 403-411

doi: 10.20965/jrm.2009.p0403

(2009)

Paper:

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Stabilizing Passive Dynamic Walk Under Wide Range of Environments by Constraint Mechanism Fitted to Sole of Foot

Kazuyuki Hyodo^*, Takeshi Oshimura^, Sadayoshi Mikami^, and Sho'ji Suzuki^**

^*Toyota technological Institute
2-12-1 Hisakata Tempaku, Nagoya 468-8511, Japan

^**Faculty of Systems Information Science, Future University-Hakodate
116-2 Kamedanakono-cho, Hakodate, Hokkaido 041-8655, Japan

Received:

October 20, 2008

Accepted:

April 27, 2009

Published:

June 20, 2009

Keywords:

passive dynamic walk, biped robot, walking stabilization, constraining mechanism, biped walk in outdoor

Abstract

This paper proposes a foot shape design to enhance the stability of passive dynamic walk by constraining fall down phenomenon in both sagittal and lateral planes. We focus on excessive side-to-side and forward leg swinging that causes a passive dynamic biped walker to fall over. Geometrical analysis showed that stability under a wide range of slope inclinations is achievable by limiting the swinging leg spatially to within a certain angle. Such a limit, or constraint, on swinging effectively prevents falling down on the lateral plane, while stable walking is maintained on the sagittal plane by constraining forward movement using a sharp edge at the head of a foot. We propose a foot prototype realizing these two constraints using a three-dimensional (3D) sole design and show that the proposed constraint is more effective for walking than an arctic foot shape. In verification experiments, the constraint stabilized the passive dynamic walker in a wide range of outdoor environments.

Cite this article as:

K. Hyodo, T. Oshimura, S. Mikami, and S. Suzuki, “Stabilizing Passive Dynamic Walk Under Wide Range of Environments by Constraint Mechanism Fitted to Sole of Foot,” J. Robot. Mechatron., Vol.21, No.3, pp. 403-411, 2009.

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References

[1] T. McGeer, “Passive Dynamic Walking,” Int. J. of Rob. Res., Vol.9, No.2, pp. 62-68, 1990.
[2] T. McGeer, “Passibr dynamic biped catalogue,” The 2nd Int. Symposium on Experimental Robotics II, 1993.
[3] M. Garcia, et al. “The Simplest Walking Model: Stability, Complexity, and Scaling,” J. of Biomechanical Engineering, Vol.120, pp. 281-288, 1998.
[4] S. H. Collins, M. Wisse, and A. Ruina, “A Three-Dimensional Passive-Dynamic Walking Robot with Two Legs and Knees,” The Int. J. of Rob. Res., Vol.20, No.7, pp. 607-615, 2001.
[5] F. Asano, M. Yamakita, N. Kamamichi, and Zhi-Wei Luo, “A Novel Gait Generation for Biped Walking Robots Based on Mechanical Energy Constraint,” IEEE trans. Robotics and Automation, Vol.20, No.3, pp. 565-573, 2004.
[6] Y. Sugimoto and K. Osuka, “Walking Control of Quasi Passive Dynamic Walking Robot “Quartet III” based on Continuous Delayed Feedback Control,” Proc. of the IEEE Int. Conf. on Robotics and Biomimetics, 2004.
[7] Y. Ikemata, A. Sano, and H. Fujimoto, “Generation and Local Stabilization of Fixed Point Based on a Stability Mechanism of Passive Walking,” Int. Conf. on Robtics and Automation., pp. 836-841, 2006.
[8] R. Tedrake, T. W. Zhang, M.-F. Fong, and H. S. Seung, “Actuating a Simple 3D Passive Dynamic Walker,” Proc. of the IEEE Int. Conf. on Robotics and Automation., pp. 4656-4661, 2003.

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

[1] [1] T. McGeer, “Passive Dynamic Walking,” Int. J. of Rob. Res., Vol.9, No.2, pp. 62-68, 1990.

[2] [2] T. McGeer, “Passibr dynamic biped catalogue,” The 2nd Int. Symposium on Experimental Robotics II, 1993.

[3] [3] M. Garcia, et al. “The Simplest Walking Model: Stability, Complexity, and Scaling,” J. of Biomechanical Engineering, Vol.120, pp. 281-288, 1998.

[4] [4] S. H. Collins, M. Wisse, and A. Ruina, “A Three-Dimensional Passive-Dynamic Walking Robot with Two Legs and Knees,” The Int. J. of Rob. Res., Vol.20, No.7, pp. 607-615, 2001.

[5] [5] F. Asano, M. Yamakita, N. Kamamichi, and Zhi-Wei Luo, “A Novel Gait Generation for Biped Walking Robots Based on Mechanical Energy Constraint,” IEEE trans. Robotics and Automation, Vol.20, No.3, pp. 565-573, 2004.

[6] [6] Y. Sugimoto and K. Osuka, “Walking Control of Quasi Passive Dynamic Walking Robot “Quartet III” based on Continuous Delayed Feedback Control,” Proc. of the IEEE Int. Conf. on Robotics and Biomimetics, 2004.

[7] [7] Y. Ikemata, A. Sano, and H. Fujimoto, “Generation and Local Stabilization of Fixed Point Based on a Stability Mechanism of Passive Walking,” Int. Conf. on Robtics and Automation., pp. 836-841, 2006.

[8] [8] R. Tedrake, T. W. Zhang, M.-F. Fong, and H. S. Seung, “Actuating a Simple 3D Passive Dynamic Walker,” Proc. of the IEEE Int. Conf. on Robotics and Automation., pp. 4656-4661, 2003.

Stabilizing Passive Dynamic Walk Under Wide Range of Environments by Constraint Mechanism Fitted to Sole of Foot

Kazuyuki Hyodo*, Takeshi Oshimura**, Sadayoshi Mikami**, and Sho'ji Suzuki**

Kazuyuki Hyodo^*, Takeshi Oshimura^, Sadayoshi Mikami^, and Sho'ji Suzuki^**