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

Paper:

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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
Creative Commons License
Keywords:
passive dynamic walking, compass-like biped robot, sliding contact, frictional effect, bifurcation
Abstract
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.
Short- and long-period sliding passive compass gaits

Short- and long-period sliding passive compass gaits

Cite this article as:
F. Asano and Y. Harata, “Sliding Passive Dynamic Walking of Compass-Like Biped Robot: Collision Modeling, Necessary Conditions, and Complexity,” J. Robot. Mechatron., Vol.29 No.3, pp. 509-519, 2017.
Data files:
References
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