Biped locomotion on level ground by torso and swing-leg control based on passive-dynamic walking

Terumasa Narukawa, Masaki Takahashi, Kazuo Yoshida

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

23 Citations (Scopus)

Abstract

This study aims at finding active biped robot designs with efficiency and simplicity of passive-dynamic walking. In this paper, it is shown that a biped robot with torso can walk efficiently on level ground over a wide range of speed by using torso and swing leg control based on passive-dynamic walking. A torso is used to generate active power replacing gravity, proposed by McGeer. The biped robot can exhibit a stable gait not planed in advance, and a period-doubling bifurcation is demonstrated in numerical simulations. Furthermore, when we choose carefully a swing leg control gain, a reverse period-doubling bifurcation from chaotic gaits to period-one gaits is demonstrated, which is not found in the passive-dynamic walking.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages4009-4014
Number of pages6
ISBN (Print)0780389123, 9780780389120
DOIs
Publication statusPublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

  • Bifurcation
  • Biped robot
  • Control systems
  • Limit cycles
  • Passive-dynamic walking

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Control and Systems Engineering
  • Artificial Intelligence
  • Computer Vision and Pattern Recognition

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