single-rb.php

JRM Vol.29 No.3 pp. 509-519
doi: 10.20965/jrm.2017.p0509
(2017)

Paper:

Sliding Passive Dynamic Walking of Compass-Like Biped Robot: Collision Modeling, Necessary Conditions, and Complexity

Fumihiko Asano* and Yuji Harata**

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

**Department of Mechanical Systems Engineering, Graduate School of Engineering, Hiroshima University
1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan

Received:
February 6, 2017
Accepted:
March 13, 2017
Published:
June 20, 2017
Keywords:
passive dynamic walking, compass-like biped robot, sliding contact, frictional effect, bifurcation
Abstract

Sliding Passive Dynamic Walking of Compass-Like Biped Robot: Collision Modeling, Necessary Conditions, and Complexity

Short- and long-period sliding passive compass gaits

This paper investigates the modeling and analysis of the sliding passive dynamic walking of a compass-like biped robot with pointed feet. First, we present the passive compass-like biped model and redevelop the inelastic collision equation for stance-leg exchange, taking the impulsive frictional effect into account. Second, we numerically show that two different steady motions, the short- and long-period sliding passive compass gaits, can be generated according to the initial conditions in the presence of the effects of the hip damper and impulsive frictional force. Furthermore, we numerically analyze the change characteristics of the gait descriptors with respect to the system parameters, and we discuss the relationship between the short- and long-period gaits.

References
  1. [1] K. Miura, F. Kanehiro, K. Kaneko, S. Kajita, and K. Yokoi, “Slip-turn for biped robots,” IEEE Trans. on Robotics, Vol.29, Issue 4, pp. 875-887, 2013.
  2. [2] T. Senoo, M. Takano, and M. Ishikawa, “Dynamic horizontal movement of a bipedal robot using frictional asymmetry,” Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1834-1839, 2012.
  3. [3] B. Gamus and Y. Or, “Dynamic bipedal walking under stick-slip transitions,” SIAM J. on Applied Dynamical Systems, Vol.14, Issue 2, pp. 609-642, 2015.
  4. [4] G. N. Boone and J. K. Hodgins, “Reflexive responses to slipping in bipedal running robots,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 158-164, 1995.
  5. [5] F. Asano, T. Saka, and T. Fujimoto, “Passive dynamic walking of compass-like biped robot on slippery downhill,” Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 4113-4118, 2015.
  6. [6] F. Asano, T. Saka, and Y. Harata, “3-DOF passive dynamic walking of compass-like biped robot with semicircular feet generated on slippery downhill,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 3570-3575, 2016.
  7. [7] C. C. de Wit, H. Olsson, and K. J. Å ström, “A new model for control of systems with friction,” IEEE Trans. on Automatic Control, Vol.40, No.3, pp. 419-425, 1995.
  8. [8] A. Goswami, B. Thuilot, and B. Espiau, “A study of the passive gait of a compass-like biped robot symmetry and chaos,” The Int. J. of Robotics Research, Vol.17, No.12, pp. 1282-1301, 1998.
  9. [9] J.-S. Moon and M. W. Spong, “Classification of periodic and chaotic passive limit cycles for a compass-gait biped with gait asymmetries,” Robotica, Vol.29, Issue 7, pp. 967-974, 2011.
  10. [10] M. Ohshima and F. Asano, “Underactuated bipedal walking with knees that generates measurable period of double-limb support,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 5643-5648, 2013.
  11. [11] J. M. Font-Llagunes and J. Kövecses, “Dynamics and energetics of a class of bipedal walking systems,” Mechanism and Machine Theory, Vol.44, Issue 11, pp. 1999-2019, 2009.
  12. [12] Y. Ikemata, A. Sano, and H. Fujimoto, “A physical principle of gait generation and its stabilization derived from mechanism of fixed point,” Proc. IEEE Int. Conf. on Robotics Automation, pp. 836-841, 2006.
  13. [13] S. H. Collins, M. Wisse, and A. Ruina, “A three-dimensional passive-dynamic walking robot with two legs and knees,” Int J. of Robotics Research, Vol.20, No.2, pp. 607-615, 2001.

*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