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

Terumasa Narukawa; Masaki Takahashi; Kazuo Yoshida

doi:10.1109/IROS.2005.1545501

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

Terumasa Narukawa, Masaki Takahashi, Kazuo Yoshida

Department of System Design Engineering

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

22 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 language	English
Title of host publication	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Publisher	IEEE Computer Society
Pages	4009-4014
Number of pages	6
ISBN (Print)	0780389123, 9780780389120
DOIs	https://doi.org/10.1109/IROS.2005.1545501
Publication status	Published - 2005

Publication series

Name	2005 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

Access to Document

10.1109/IROS.2005.1545501

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Narukawa, T., Takahashi, M., & Yoshida, K. (2005). Biped locomotion on level ground by torso and swing-leg control based on passive-dynamic walking. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 4009-4014). [1545501] (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). IEEE Computer Society. https://doi.org/10.1109/IROS.2005.1545501

Biped locomotion on level ground by torso and swing-leg control based on passive-dynamic walking. / Narukawa, Terumasa; Takahashi, Masaki; Yoshida, Kazuo.

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. IEEE Computer Society, 2005. p. 4009-4014 1545501 (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS).

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

Narukawa, T, Takahashi, M & Yoshida, K 2005, Biped locomotion on level ground by torso and swing-leg control based on passive-dynamic walking. in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 1545501, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, IEEE Computer Society, pp. 4009-4014. https://doi.org/10.1109/IROS.2005.1545501

Narukawa T, Takahashi M, Yoshida K. Biped locomotion on level ground by torso and swing-leg control based on passive-dynamic walking. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. IEEE Computer Society. 2005. p. 4009-4014. 1545501. (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2005.1545501

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