Legged Robot design applying the behavior of Passive Dynamic Walking

2014 ◽  
Vol 1 ◽  
pp. 175-178
Author(s):  
Masatsugu Iribe ◽  
Haruyuki Hirose ◽  
Tetsuya Kinugasa ◽  
Koichi Osuka
Keyword(s):  
Robot Design ◽  
Legged Robot ◽  
Dynamic Walking ◽  
Passive Dynamic Walking

scholarly journals Experimental verification of the characteristic behaviors in passive dynamic walking

2021 ◽  
Author(s):  
Masatsugu Iribe ◽  
Ryoichi Hirouji ◽  
Daisuke Ura ◽  
Koichi Osuka ◽  
Tetsuya Kinugasa
Keyword(s):  
Numerical Simulations ◽  
Experimental Verification ◽  
Chaotic Behavior ◽  
Adaptive Behaviors ◽  
Robot Design ◽  
Legged Robot ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Environment Changes

AbstractIt is well known that passive dynamic walking shows chaotic behavior owing to changes in the environment. In addition, when the environment changes continuously during walking, passive dynamic walking shows “adaptive behaviors” in which the stride angle changes itself in an attempt to keep walking. These behaviors are very interesting and useful for the legged robot design. However, the studies on passive dynamic walking are preceded only by numerical simulations. For this reason, it is very important to confirm, by actual experiments, whether these characteristic behaviors appear. In this paper, we verify the existence of these behaviors by several actual experiments.

scholarly journals Legged Walking Robot Design Applying a Behavior of Passive Dynamic Walking

2015 ◽  
Vol 51 (5) ◽  
pp. 329-335 ◽  
Author(s):  
Daisuke URA ◽  
Masatsugu IRIBE ◽  
Koichi OSUKA ◽  
Tetsuya KINUGASA
Keyword(s):  
Robot Design ◽  
Dynamic Walking ◽  
Walking Robot ◽  
Passive Dynamic Walking

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

2017 ◽  
Vol 29 (3) ◽  
pp. 480-489 ◽  
Author(s):  
Daisuke Ura ◽  
◽  
Yasuhiro Sugimoto ◽  
Yuichiro Sueoka ◽  
Koichi Osuka
Keyword(s):  
Design Method ◽  
Step Length ◽  
Physical Parameters ◽  
Legged Robot ◽  
Dynamic Walking ◽  
Trial And Error ◽  
Leg Length ◽  
Passive Dynamic Walking ◽  
Variable Parameters ◽  
Passive Dynamic Walker

[abstFig src='/00290003/03.jpg' width='300' text='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.

Estimation of the Stable Fixed Point of Passive Dynamic Walking with BP Neural Network

ROBOT ◽  
2010 ◽  
Vol 32 (4) ◽  
pp. 478-483 ◽  
Author(s):  
Xiuhua NI ◽  
Weishan CHEN ◽  
Junkao LIU ◽  
Shengjun SHI
Keyword(s):  
Neural Network ◽  
Fixed Point ◽  
Bp Neural Network ◽  
Stable Fixed Point ◽  
Dynamic Walking ◽  
Passive Dynamic Walking

A Simple Analytical Tool for Legged Robot Design

2012 ◽  
Author(s):  
Zhuohua Shen ◽  
Justin Seipel
Keyword(s):  
Analytical Solutions ◽  
Inverted Pendulum ◽  
Legged Locomotion ◽  
Robot Design ◽  
Slip Model ◽  
Legged Robot ◽  
Biologically Relevant ◽  
Analytical Approximations ◽  
Energy Conserving ◽  
Spring Loaded Inverted Pendulum

Although legged locomotion is better at tackling complicated terrains compared with wheeled locomotion, legged robots are rare, in part, because of the lack of simple design tools. The dynamics governing legged locomotion are generally nonlinear and hybrid (piecewise-continuous) and so require numerical simulation for analysis and are not easily applied to robot designs. During the past decade, a few approximated analytical solutions of Spring-Loaded Inverted Pendulum (SLIP), a canonical model in legged locomotion, have been developed. However, SLIP is energy conserving and cannot predict the dynamical stability of real-world legged locomotion. To develop new analytical tools for legged robot designs, we first analytically solved SLIP in a new way. Then based on SLIP solution, we developed an analytical solution of a hip-actuated Spring-Loaded Inverted Pendulum (hip-actuated-SLIP) model, which is more biologically relevant and stable than the canonical energy conserving SLIP model. The analytical approximations offered here for SLIP and the hip actuated-SLIP solutions compare well with the numerical simulations of each. The analytical solutions presented here are simpler in form than those resulting from existing analytical approximations. The analytical solutions of SLIP and the hip actuated-SLIP can be used as tools for robot design or for generating biological hypotheses.

Sign in / Sign up

Export Citation Format

Share Document