single-rb.php

JRM Vol.29 No.3 pp. 480-489
doi: 10.20965/jrm.2017.p0480
(2017)

Paper:

Asymptotic Realization of Desired Control Performance by Body Adaptation of Passive Dynamic Walker

Daisuke Ura, Yasuhiro Sugimoto, Yuichiro Sueoka, and Koichi Osuka

Department of Mechanical Engineering, Osaka University
M4-105, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan

Received:
August 29, 2016
Accepted:
December 14, 2016
Published:
June 20, 2017
Keywords:
passive dynamic walking, biped, legged robot, design method, control method
Abstract

Asymptotic Realization of Desired Control Performance by Body Adaptation of Passive Dynamic Walker

Schematic of the proposed design method

This article proposes a design method of legged walking robot hardware capable of performing passive dynamic walking with its desirable characteristics. Passive dynamic walking has a relatively good energy efficiency, and is said to be similar to the walking style of animals. However, most legged robot hardware capable of passive dynamic walking is designed through trial and error on the basis of experience. One of the major problems of designing through trial and error is the difficulty of verifying walking for the legged robot hardware that has many degree of freedom. It is relatively easy to determine the initial condition for compass-type robot hardware. However, it often takes long time to determine the appropriate initial conditions and slope angles for complicated robots such as legged robots with knees. We proposed and verified a method to design a legged robot with knees that has a desired leg length and leg mass from a compass-type legged robot. In this article, we propose a method to design a passive dynamic walker that has a desired leg angle, step length, leg mass, etc., and verify the resulting design. More specifically, the physical parameters, such as the leg length, leg mass, and joint friction, are defined as “physical parameters” and the parameters acquired as the result of walking, such as the leg angle, step length, and walking cycle, are defined as “variable parameters.” By observing variable parameters while the robot is walking and by changing the physical parameters according to the observed variable parameters, the variable parameters are indirectly changed to desired values.

References
  1. [1] T. McGeer, “Passive dynamic walking,” The Int. J. of Robotics Research, Vol.9, No.2, 1990.
  2. [2] Y. Sugimoto and K. Osuka, “Hierarchical implicit feedback structure in passive dynamic walking,” J. of Robotics and Mechatronics, Vol.20, No.4, pp. 559-566, 2008.
  3. [3] Y. Sugimoto and K. Osuka, “Stability analysis of passive dynamic walking – an approach via interpretation of poincare map’s structure,” Trans. of the Institute of Systems, Vol.18, No.7, pp. 255-260, 2005.
  4. [4] T. Kinugasa, T. Ito, H. Kitamura, K. Ando, and S. Fujimoto, K. Yoshida, and M. Iribe, “3d dynamic biped walker with flat feet and ankle springs: Passive gait analysis and extension to active walking,” J. of Robotics and Mechatronics, Vol.27, No.4, pp. 444-452, 2015.
  5. [5] J.-S. Moon, D. M. Stipanović, and M. W. Spong, “Gait generation and stabilization for nearly passive dynamic walking using auto-distributed impulses,” Asian J. of Control, Vol.18, No.4, pp. 1-16, Aug. 2015.
  6. [6] T. Chyou, G. F. Liddell, and M. G. Paulin, “An upper-body can improve the stability and efficiency of passive dynamic walking,” J. of Theoretical Biology, 2011.
  7. [7] M. Gomes and A. Ruina, “Walking model with no energy cost,” Physical Review E, Vol.83, No.3, Mar. 2011.
  8. [8] S. Collins, A. Ruina, R. Tedrake, and M. Wisse, “Efficient bipedal robots based on passive dynamic walkers,” Science, Vol.307, pp. 1082-1085, 2005.
  9. [9] I. Handuzić and K. B. Reed, “Validation of a passive dynamic walker model for human gait analysis,” 35th Annual Int. Conf. of the IEEE EMBS, 2013.
  10. [10] F. Asano, T. Saka, and Y. Harata, “3-dof passive dynamic walking of compass-like biped robot with semicircular feet generated on slippery downhill,” Int. Conf. on Robotics and Automation (ICRA), 2016.
  11. [11] Y. Harata, F. Asano, K. Taji, and Y. Uno, “Efficient parametric excitation walking with delayed feedback control,” Nonlinear Dynamics, Vol.67, No.2, pp. 1327-1335, Jun. 2011.
  12. [12] I. R. Manchester, U. Mettin, F. Iida, and R. Tedrake, “Stable dynamic walking over uneven terrain,” The Int. J. of Robotics Research, Vol.30, No.3, pp. 265-279, Jan. 2011.
  13. [13] T. Nanayakkara, K. Byl, H. Liu, X. Song, and T. Villabona, “Dominant sources of variability in passive walking,” Int. Conf. on Robotics and Automation (ICRA), 2012.
  14. [14] Y. Huang, Q. Wang, B. Chen, G. Xie, and L. Wang, “Modeling and gait selection of passivity-based seven-link bipeds with dynamic series of walking phases,” Robotica, Vol.30, pp. 39-51, 2012.
  15. [15] D. J. Braun, J. E. Mitchell, and M. Goldfarb, “Actuated dynamic walking in a seven-link biped robot,” Trans. on Mechatronics, Vol.17, No.1, pp. 147-156, Feb. 2012.
  16. [16] Y. Hanazawa and M. Yamakita, “High-efficient biped walking based on flat-footed passive dynamic walking with mechanical impedance at ankles,” J. of Robotics and Mechatronics, Vol.24, No.3, pp. 498-506, 2012.
  17. [17] X. Luo, L. Zhu, and L. Xia, “Principle and method of speed control for dynamic walking biped robots,” Robotics and Autonomous Systems, Vol.66, pp. 129-144, Apr. 2015.
  18. [18] N. H. Shah and M. A. Yeolekar, “Influence of slope angle on the walking of passive dynamic biped robot,” Applied Mathematics, Vol.06, pp. 456-465, 2015.
  19. [19] Q. Li, J. Guo, and X.-S. Yang, “Bifurcation and chaos in the simple passive dynamic walking model with upper body,” Chaos, Vol.24, No.3, p. 033114, Sep. 2014.
  20. [20] D. Owaki, M. Koyama, S. Yamaguchi, S. Kubo, and A. Ishiguro, “A 2-d passive-dynamic-running biped with elastic elements,” Trans. on Robotics, Vol.27, No.1, pp. 156-162, Feb. 2011.
  21. [21] Z. Gan and C. D. Remy, “A passive dynamic quadruped that moves in a large variety of gaits,” Int. Conf. on Intelligent Robots and Systems (IROS 2014), 2014.
  22. [22] M. Iribe, D. Hayashi, D. Ura, T. Kinugasa, and K. Osuka, “Development of the passive dynamic walk robot which has symmetrized structure,” Proc. of the 2014 JSME Conf. on Robotics and Mechatronics, 2A1-H06, 2014.
  23. [23] M. Iribe and K. Osuka, “A design of the passive dynamic walking robot by applying its dynamic properties,” J. of Robotics and Mechatronics, Vol.19, No.4, pp. 402-408, 2007.
  24. [24] D. Ura, M. Iribe, K. Osuka, and T. Kinugasa, “Legged walking robot design applying a behavior of passive dynamic walking – joint d.o.f alignment design applying the adaptive function –,” Trans. of the Society of Instrument and Control Engineers, Vol.51, No.5, pp. 329-335, 2015.
  25. [25] X. Zang, L. Wang, Y.-X. Liu, and S. Iqbal, “Research on 3d walking of oscillator-based passive biped robot,” Int. Conf. on Mechanics and Control Engineering (MCE 2015), 2015.
  26. [26] T. Aoyama, K. Sekiyama, Z. Lu, Y. Hasegawa, and T. Fukuda, “3-d biped walking using double support phase and swing leg retraction based on the assumption of point-contact,” J. of Robotics and Mechatronics, Vol.24, No.5, pp. 866-875, 2012.
  27. [27] 先生E T. Kinugasa, T. Haji, M. Iribe, T. Kobayashi, S. Fujimoto, and K. Yoshida, “3-d passive dynamic walker made of cardboard for robot education – design strategy, experiment and manual training –,” J. of the Robotics Society of Japan, Vol.31, No.2, pp. 154-160, 2013.
  28. [28] Y. Ikemata, A. Sano, and H. Fujimoto, “A stability mechanism of the fixed point in passive walking,” J. of the Robotics Society of Japan, Vol.23, No.7, pp. 839-846, 2005.
  29. [29] I. Obayashi, S. Aoi, K. Tsuchiya, and H. Kokubu, “Formation mechanism of a basin of attraction for passive dynamic walking induced by intrinsic hyperbolicity,” Proc. of the Royal Society A, The Royal Society Publishing, 2016.
  30. [30] Y. Hu, G. Yan, and Z. Lin, “Feedback control of planar biped robot with regulable step length and walking speed,” Trans. on Robotics, Vol.27, No.1, pp. 162-169, Feb. 2011.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, IE9,10,11, Opera.

Last updated on Sep. 21, 2017