JRM Vol.24 No.1 pp. 37-46
doi: 10.20965/jrm.2012.p0037


PDAC-Based 3-D Biped Walking Adapted to Rough Terrain Environment

Tadayoshi Aoyama*, Kosuke Sekiyama*,
Yasuhisa Hasegawa**, and Toshio Fukuda*

*Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan

**Department Intelligent Interaction Technologies, University of Tsukuba, 1-1-1 Tenodai, Tsukuba 305-8573, Japan

February 21, 2011
July 6, 2011
February 20, 2012
biped walking, point-contact, rough terrain

This paper deals with the 3-D biped walking of a humanoid type robot over rough terrain. We previously proposed efficient 3-D biped walking control using Passive Dynamic Autonomous Control (PDAC) based on the assumption of point-contact and virtual holonomic constraint of robot joints. Walking adaptability has not, however, been analyzed. We thus analyze the environmental adaptability of PDAC-based walking method in this paper. The robot is modeled as a variable-length 3-D inverted pendulum whose dynamics is modeled as a 2-D autonomous system by applying PDAC. We analyze the stability of the 2-D autonomous system using a Poincaré map and derive the stable range of uneven height over rough terrain. We then experimentally validate 3-D biped walking on unknown rough terrain using our humanoid type robot, Gorilla Robot III.

Cite this article as:
Tadayoshi Aoyama, Kosuke Sekiyama,
Yasuhisa Hasegawa, and Toshio Fukuda, “PDAC-Based 3-D Biped Walking Adapted to Rough Terrain Environment,” J. Robot. Mechatron., Vol.24, No.1, pp. 37-46, 2012.
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