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 |
| Pages | 3431-3436 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2005 |
| Event | IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada Duration: 2005 Aug 2 → 2005 Aug 6 |
Other
| Other | IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 |
|---|---|
| Country | Canada |
| City | Edmonton, AB |
| Period | 05/8/2 → 05/8/6 |
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Keywords
- Bifurcation
- Biped robot
- Control systems
- Limit cycles
- Passive-dynamic walking
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Human-Computer Interaction
- Control and Systems Engineering
Cite this
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. 2005. p. 3431-3436 1545501.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Biped locomotion on level ground by torso and swing-leg control based on passive-dynamic walking
AU - Narukawa, Terumasa
AU - Takahashi, Masaki
AU - Yoshida, Kazuo
PY - 2005
Y1 - 2005
N2 - 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.
AB - 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.
KW - Bifurcation
KW - Biped robot
KW - Control systems
KW - Limit cycles
KW - Passive-dynamic walking
UR - http://www.scopus.com/inward/record.url?scp=50649094355&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=50649094355&partnerID=8YFLogxK
U2 - 10.1109/IROS.2005.1545501
DO - 10.1109/IROS.2005.1545501
M3 - Conference contribution
AN - SCOPUS:50649094355
SN - 0780389123
SN - 9780780389120
SP - 3431
EP - 3436
BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ER -