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 proceedingConference 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 languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages3431-3436
Number of pages6
DOIs
Publication statusPublished - 2005
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada
Duration: 2005 Aug 22005 Aug 6

Other

OtherIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
CountryCanada
CityEdmonton, AB
Period05/8/205/8/6

Fingerprint

Biped locomotion
Robots
Gain control
Gravitation
Computer simulation

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

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. 3431-3436). [1545501] 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. 2005. p. 3431-3436 1545501.

Research output: Chapter in Book/Report/Conference proceedingConference 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, pp. 3431-3436, IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005, Edmonton, AB, Canada, 05/8/2. 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. 2005. p. 3431-3436. 1545501 https://doi.org/10.1109/IROS.2005.1545501
Narukawa, Terumasa ; Takahashi, Masaki ; Yoshida, Kazuo. / Biped locomotion on level ground by torso and swing-leg control based on passive-dynamic walking. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. pp. 3431-3436
@inproceedings{f6e1f611c3474c3db6844771ddb35bd9,
title = "Biped locomotion on level ground by torso and swing-leg control based on passive-dynamic walking",
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.",
keywords = "Bifurcation, Biped robot, Control systems, Limit cycles, Passive-dynamic walking",
author = "Terumasa Narukawa and Masaki Takahashi and Kazuo Yoshida",
year = "2005",
doi = "10.1109/IROS.2005.1545501",
language = "English",
isbn = "0780389123",
pages = "3431--3436",
booktitle = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",

}

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 -