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

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 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

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. 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

@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",

series = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",

publisher = "IEEE Computer Society",

pages = "4009--4014",

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

T3 - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

SP - 4009

EP - 4014

BT - 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

PB - IEEE Computer Society

ER -

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

Abstract

Publication series

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this