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JRM Vol.24 No.3 pp. 498-506
doi: 10.20965/jrm.2012.p0498
(2012)

Paper:

High-Efficient Biped Walking Based on Flat-Footed Passive Dynamic Walking with Mechanical Impedance at Ankles

Yuta Hanazawa and Masaki Yamakita

Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 Oh-okayama, Meguro-ku, Tokyo 152-8552, Japan

Received:
September 30, 2011
Accepted:
April 18, 2012
Published:
June 20, 2012
Keywords:
biped robot, passive walk, flat foot, mechanical impedance, inerter
Abstract

In this paper, we present novel biped walking based on flat-footed Passive Dynamic Walking (PDW) with mechanical impedance at the ankles. To realize biped robot achieving high-efficient walking, PDW has attracted attention. Recently, flat-footed passive dynamic walkers with mechanical impedance at the ankles have been proposed. We show that this passive walker achieves fast, energy-efficient walking using ankle springs and inerters. For this reason, we propose novel biped walking control that mimics PDW to realize biped robots achieving fast, energy-efficient walking on level ground. First, we design a flat-footed biped robot that achieves fast, energy-efficient PDW. To achieve walking based on PDW, the biped robot then takes advantage of a virtual gravitational field that is generated by actuators. The biped robot also pushes off with the foot in the double-support phase to restore energy. By walking simulation, we show that a flat-footed biped robot achieves fast, energy-efficient walking on level ground by the proposed method.

Cite this article as:
Yuta Hanazawa and Masaki Yamakita, “High-Efficient Biped Walking Based on Flat-Footed Passive Dynamic Walking with Mechanical Impedance at Ankles,” J. Robot. Mechatron., Vol.24, No.3, pp. 498-506, 2012.
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