Semi-passive dynamic walking for biped walking robot using controllable joint stiffness based on dynamic simulation

2009 ◽  
Author(s):  
Aiman Musa M. Omer ◽  
Reza Ghorbani ◽  
Hun-ok Lim ◽  
Atsuo Takanishi
Keyword(s):  
Dynamic Simulation ◽  
Joint Stiffness ◽  
Dynamic Walking ◽  
Walking Robot ◽  
Passive Dynamic Walking ◽  
Biped Walking ◽  
Biped Walking Robot

Energy Dissipation Rate Control for Planar Biped Walking Robot Based on the Property of Passive Dynamic Walking

2014 ◽  
Author(s):  
Mohsen Azimi ◽  
M. R. Hairi Yazdi
Keyword(s):  
Energy Dissipation ◽  
Dissipation Rate ◽  
Mechanical Energy ◽  
Main Idea ◽  
Energy Dissipation Rate ◽  
Dynamic Walking ◽  
Walking Robot ◽  
Passive Dynamic Walking ◽  
Biped Walking ◽  
Biped Walking Robot

Several control methods based on passive dynamic walking have been proposed by researchers to provide an efficient human-like biped walking robot. For most of these passive based controllers the main idea is to shape the robot’s energy level during each Single Support Phase (SSP) to restore the mechanical energy which has been lost in the previous Impact Phases (IP). In this paper, instead of controlling the energy restoration rate during each SSP, a new strategy is introduced which provides a stable walking by controlling the energy dissipation rate during each IP. Subsequently, this method is applied to an anti-trunk biped robot with lockable knee joints to realize an active dynamic walking on level ground. Simulation results show, the proposed method is effective.

scholarly journals 2P1-B13 Research and Development of Tendon-Driven Biped Walking Robot : Mechanism and Learning of the optimal joint stiffness

2006 ◽  
Vol 2006 (0) ◽  
pp. _2P1-B13_1-_2P1-B13_4
Author(s):  
Toshiyuki EBATA ◽  
Hiroaki KOBAYASHI ◽  
Sumio TANAKA ◽  
Toshihiro SAKATSUME ◽  
Yoshio NISHIMURA ◽  
...  
Keyword(s):  
Research And Development ◽  
Joint Stiffness ◽  
Walking Robot ◽  
Biped Walking ◽  
Biped Walking Robot

scholarly journals The realization of dynamic walking by the biped walking robot WL-10RD.

1985 ◽  
Vol 3 (4) ◽  
pp. 325-336 ◽  
Author(s):  
Atsuo TAKANISHI ◽  
Masami ISHIDA ◽  
Yoshiaki YAMAZAKI ◽  
Ichiro KATO
Keyword(s):  
Dynamic Walking ◽  
Walking Robot ◽  
Biped Walking ◽  
Biped Walking Robot
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