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

Yuta Hanazawa; Masaki Yamakita

doi:10.20965/jrm.2012.p0498

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JRM Vol.24 No.3 pp. 498-506

doi: 10.20965/jrm.2012.p0498

(2012)

Paper:

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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:

Y. Hanazawa and M. 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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References

[1] T. McGeer, “Passive dynamic walking,” The Int. J. of Robotics Research, Vol.9, No.2, pp. 62-82, 1990.
[2] S. H. Collins and A. Ruina, “A bipedal walking robot with efficient and human-like gait,” Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1983-1988, 2005.
[3] A. Goswami, B. Espiau, and A. Keramane, “Limit cycles and their stability in a passive bipedal gait,” Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Vol.1, pp. 246-251, 1996.
[4] F. Asano, M. Yamakita, and K. Furuta, “Virtual passive dynamic walking and energy-based control laws,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 1149-1154, 2002.
[5] M. W. Spong, J. K. Holm, and D. Lee, “Passivity-based control of bipedal locomotion,” IEEE Robotics & Automation Magazine, Vol.14, No.2, pp. 30-40, 2007.
[6] F. Asano and Z. W. Luo, “On energy-efficient and high-speed dynamic biped locomotion with semicircular feet,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 5901-5906, 2006.
[7] S. H. Collins and A. Ruina, “Efficient bipedal robots based on passive-dynamic walkers,” Science, Vol.5712, pp. 1082-1085, 2005.
[8] T. Takuma and K. Hosoda, “Controlling the walking period of a pneumatic muscle walker,” The Int. J. of Robotics Research, Vol.25, No.9, pp. 861-866, 2006.
[9] P. Manoonpong, T. Geng, B. Porr, and F. Worgotter, “The Run-Bot architecture for adaptive, fast, dynamic walking,” Proc. IEEE Int. Symposium on Circuits and Systems (ISCAS), pp. 1181-1184, 2007.
[10] F. Asano and Z. W. Luo, “Energy-efficient and high-speed dynamic biped locomotion based on principle of parametric excitation,” IEEE Trans. on Robotics, Vol.24, No.6, pp. 1289-1301, 2008.
[11] Y. Harata, F. Asano, Z. W. Luo, K. Taji, and Y. Uno, “Biped gait generation based on parametric excitation by knee-joint actuation,” Robotica, Vol.7, No.7, pp. 1063-1073, 2009.
[12] F. Asano and Z. W. Luo, “Efficient dynamic bipedal walking using effects of semicircular feet,” Robotica, Vol.29, No.3, pp. 351-365, 2011.
[13] D. G. E. Hobbelen and M. Wisse, “Limit cycle walking,” In: M. Hackel (Ed.), Humanoid Robots; humanlike machines, pp. 277-294, 2007.
[14] D. G. E. Hobbelen and M. Wisse, “Controlling the walking speed in limit cycle walking,” The Int. J. of Robotics Research, No.9, pp. 989-1005, 2008.
[15] T. Narukawa, K. Yokoyama, M. Takahashi, and K. Yoshida, “A simple 3D straight-legged passive walker with flat feet and ankle springs,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 2952-2957, 2008.
[16] D. G. E. Hobbelen, T. de Boer, and M. Wisse, “System overview of bipedal robots flame and tulip: Tailor-made for limit cycle walking,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 2486-2491, 2008.
[17] K. Narioka, S. Tsugawa, and K. Hosoda, “3D limit cycle walking of musculoskeletal humanoid robot with flat feet,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 4676-4681, 2009.
[18] T. Narukawa, K. Yokoyama, and M. Takanashi, “Numerical and Experimental Studies of Planar Passive Biped Walker with Flat Feet and Ankle Springs,” J. of System Design and Dynamics, Vol.4, No.6, pp. 848-856, 2010.
[19] M.Wisse, D. G. E.Hobbelen, R. J. J. Rotteveel, S. O. Anderson, and G. J. Zeglin, “Ankle springs instead of arc-shaped feet for passive dynamic walkers,” Proc. IEEE-RAS Int. Conf. on Humanoid Robots (ICHR), pp. 110-116, 2006.
[20] M. C. Smith, “Synthesis of mechanical networks: The inerter,” IEEE Trans. on Automatic Control, Vol.47, No.10, pp. 1648-1662, 2002.
[21] Y. Hanazawa, H. Suda, and M. Yamakita, “Analysis and Experiment of Flat-Footed Passive Dynamic Walker with Ankle Inerter,” Proc. IEEE Int. Conf. on Robotics and Biomimetics (ROBIO), pp. 86-91, 2011.
[22] J.W. Grizzle, G. Abba, and F. Plestan, “Asymptotically stable walking for biped robots: Analysis via systems with impulse effects,” IEEE Trans. on Automatic Control, Vol.46, No.1, pp. 51-64, 2001.
[23] R. W. Sinnet and A. D. Ames, “2d bipedal walking with knees and feet: A hybrid control approach,” in Proc. IEEE Conf. on Decision and Control, and Chinese Control Conf. (CDC/CCC), pp. 3200-3207, 2009.

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

[1] [1] T. McGeer, “Passive dynamic walking,” The Int. J. of Robotics Research, Vol.9, No.2, pp. 62-82, 1990.

[2] [2] S. H. Collins and A. Ruina, “A bipedal walking robot with efficient and human-like gait,” Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1983-1988, 2005.

[3] [3] A. Goswami, B. Espiau, and A. Keramane, “Limit cycles and their stability in a passive bipedal gait,” Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Vol.1, pp. 246-251, 1996.

[4] [4] F. Asano, M. Yamakita, and K. Furuta, “Virtual passive dynamic walking and energy-based control laws,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 1149-1154, 2002.

[5] [5] M. W. Spong, J. K. Holm, and D. Lee, “Passivity-based control of bipedal locomotion,” IEEE Robotics & Automation Magazine, Vol.14, No.2, pp. 30-40, 2007.

[6] [6] F. Asano and Z. W. Luo, “On energy-efficient and high-speed dynamic biped locomotion with semicircular feet,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 5901-5906, 2006.

[7] [7] S. H. Collins and A. Ruina, “Efficient bipedal robots based on passive-dynamic walkers,” Science, Vol.5712, pp. 1082-1085, 2005.

[8] [8] T. Takuma and K. Hosoda, “Controlling the walking period of a pneumatic muscle walker,” The Int. J. of Robotics Research, Vol.25, No.9, pp. 861-866, 2006.

[9] [9] P. Manoonpong, T. Geng, B. Porr, and F. Worgotter, “The Run-Bot architecture for adaptive, fast, dynamic walking,” Proc. IEEE Int. Symposium on Circuits and Systems (ISCAS), pp. 1181-1184, 2007.

[10] [10] F. Asano and Z. W. Luo, “Energy-efficient and high-speed dynamic biped locomotion based on principle of parametric excitation,” IEEE Trans. on Robotics, Vol.24, No.6, pp. 1289-1301, 2008.

[11] [11] Y. Harata, F. Asano, Z. W. Luo, K. Taji, and Y. Uno, “Biped gait generation based on parametric excitation by knee-joint actuation,” Robotica, Vol.7, No.7, pp. 1063-1073, 2009.

[12] [12] F. Asano and Z. W. Luo, “Efficient dynamic bipedal walking using effects of semicircular feet,” Robotica, Vol.29, No.3, pp. 351-365, 2011.

[13] [13] D. G. E. Hobbelen and M. Wisse, “Limit cycle walking,” In: M. Hackel (Ed.), Humanoid Robots; humanlike machines, pp. 277-294, 2007.

[14] [14] D. G. E. Hobbelen and M. Wisse, “Controlling the walking speed in limit cycle walking,” The Int. J. of Robotics Research, No.9, pp. 989-1005, 2008.

[15] [15] T. Narukawa, K. Yokoyama, M. Takahashi, and K. Yoshida, “A simple 3D straight-legged passive walker with flat feet and ankle springs,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 2952-2957, 2008.

[16] [16] D. G. E. Hobbelen, T. de Boer, and M. Wisse, “System overview of bipedal robots flame and tulip: Tailor-made for limit cycle walking,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 2486-2491, 2008.

[17] [17] K. Narioka, S. Tsugawa, and K. Hosoda, “3D limit cycle walking of musculoskeletal humanoid robot with flat feet,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 4676-4681, 2009.

[18] [18] T. Narukawa, K. Yokoyama, and M. Takanashi, “Numerical and Experimental Studies of Planar Passive Biped Walker with Flat Feet and Ankle Springs,” J. of System Design and Dynamics, Vol.4, No.6, pp. 848-856, 2010.

[19] [19] M.Wisse, D. G. E.Hobbelen, R. J. J. Rotteveel, S. O. Anderson, and G. J. Zeglin, “Ankle springs instead of arc-shaped feet for passive dynamic walkers,” Proc. IEEE-RAS Int. Conf. on Humanoid Robots (ICHR), pp. 110-116, 2006.

[20] [20] M. C. Smith, “Synthesis of mechanical networks: The inerter,” IEEE Trans. on Automatic Control, Vol.47, No.10, pp. 1648-1662, 2002.

[21] [21] Y. Hanazawa, H. Suda, and M. Yamakita, “Analysis and Experiment of Flat-Footed Passive Dynamic Walker with Ankle Inerter,” Proc. IEEE Int. Conf. on Robotics and Biomimetics (ROBIO), pp. 86-91, 2011.

[22] [22] J.W. Grizzle, G. Abba, and F. Plestan, “Asymptotically stable walking for biped robots: Analysis via systems with impulse effects,” IEEE Trans. on Automatic Control, Vol.46, No.1, pp. 51-64, 2001.

[23] [23] R. W. Sinnet and A. D. Ames, “2d bipedal walking with knees and feet: A hybrid control approach,” in Proc. IEEE Conf. on Decision and Control, and Chinese Control Conf. (CDC/CCC), pp. 3200-3207, 2009.