Outdoor Environments Walking by Biped Passive Dynamic Walker with Constraint Mechanism

Kazuyuki Hyodo; Sadayoshi Mikami; Sho’ji Suzuki

doi:10.20965/jrm.2010.p0363

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JRM Vol.22 No.3 pp. 363-370

doi: 10.20965/jrm.2010.p0363

(2010)

Paper:

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Outdoor Environments Walking by Biped Passive Dynamic Walker with Constraint Mechanism

Kazuyuki Hyodo^*, Sadayoshi Mikami^, and Sho’ji Suzuki^

^*Toyota Tech. Inst., 2-12-1 Hisakata, Nagoya, Aichi 468-8511, Japan

^**Future University-Hakodate, 116-2 Kamedanakano, Hakodate-City, Hokkaido 041-8655, Japan

Received:

October 1, 2009

Accepted:

March 12, 2010

Published:

June 20, 2010

Keywords:

passive dynamic walk, biped robots, outdoor environments

Abstract

This paper verified the stability of passive dynamic bipedal walking indoors and outdoors using a foot shape enhancing walking stability and implementing control constraint. Outdoor walking is difficult for walkers due to the unpredictable aspects of loose slopes, bumpy surfaces, and uneven friction on roads.

Cite this article as:

K. Hyodo, S. Mikami, and S. Suzuki, “Outdoor Environments Walking by Biped Passive Dynamic Walker with Constraint Mechanism,” J. Robot. Mechatron., Vol.22 No.3, pp. 363-370, 2010.

Data files:

References

[1] T. McGeer, “Passive Dynamic Walking,” Int. J. of Rob. Res., Vol.9, No.2, pp. 62-82, 1990.
[2] T. McGeer, “Passibr dynamic biped catalogue,” The 2nd Int. Symp. on Experimental Robotics II, 1993.
[3] F. Asano, M. Yamakita, N. Kamamichi, and Z.-W. 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.
[4] 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.
[5] Y. Ikemata, A. Sano, K. Yasuhara, and H. Fujimoto, “Dynamic effects of arc feet on the leg motion of passive walker,” Int. Conf. on Robtics and Automation, pp. 2755-2760, 2009.
[6] K. Hyodo, S. Mikami, and S. Suzuki, “Stabilizing Passive Dynamic Walk by Constraining Leg Angles by Foot Shape,” Proc. of the IEEE Int. Conf. Control, Automation, Robotics and Vision, 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. 62-82, 1990.

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

[3] [3] F. Asano, M. Yamakita, N. Kamamichi, and Z.-W. 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.

[4] [4] 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.

[5] [5] Y. Ikemata, A. Sano, K. Yasuhara, and H. Fujimoto, “Dynamic effects of arc feet on the leg motion of passive walker,” Int. Conf. on Robtics and Automation, pp. 2755-2760, 2009.

[6] [6] K. Hyodo, S. Mikami, and S. Suzuki, “Stabilizing Passive Dynamic Walk by Constraining Leg Angles by Foot Shape,” Proc. of the IEEE Int. Conf. Control, Automation, Robotics and Vision, pp. 4656-4661, 2003.

Outdoor Environments Walking by Biped Passive Dynamic Walker with Constraint Mechanism

Kazuyuki Hyodo*, Sadayoshi Mikami**, and Sho’ji Suzuki**

Kazuyuki Hyodo^*, Sadayoshi Mikami^, and Sho’ji Suzuki^