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JRM Vol.29 No.3 pp. 490-499
doi: 10.20965/jrm.2017.p0490
(2017)

Paper:

Asymmetric Swing-Leg Motions for Speed-Up of Biped Walking

Yuta Hanazawa* and Fumihiko Asano**

*Department of Applied Science for Integrated System Engineering, Graduate School of Engineering, Kyushu Institute of Technology
1-1 Sensui, Tobata, Kitakyushu, Fukuoka 804-8550, Japan

**School of Information Science, Japan Advanced Institute of Science and Technology
1-1 Asahidai, Nomi, Ishikawa 923-1292, Japan

Received:
December 2, 2016
Accepted:
March 18, 2017
Published:
June 20, 2017
Keywords:
biped robot, limit cycle, asymmetric motion
Abstract

Asymmetric Swing-Leg Motions for Speed-Up of Biped Walking

Stick diagram of limit cycle walking with asymmetric swing-leg motion

This study presents a novel swing-leg control strategy for speed-up of biped robot walking. The trajectory of tip of the swing-leg is asymmetric at the center line of the torso in the sagittal plane for this process. A methodology is proposed that enables robots to achieve the synchronized asymmetric swing-leg motions with the stance-leg angle to accelerate their walking speed. The effectiveness of the proposed method was simulated using numerical methods.

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Last updated on Sep. 19, 2017