Level-ground walk based on passive dynamic walking for a biped robot with torso

Terumasa Narukawa, Masaki Takahashi, Kazuo Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

This study presents a design technique of an efficient biped walking robot on level ground with a simple mechanism based on passive-dynamic walking. A torso is used to generate active power replacing gravity used in passive walk. Swing-leg control is introduced to create a steady gait. Numerical simulations show that a biped robot with knees and a torso can walk efficiently on level ground. When we choose an appropriate parameter of the swing-leg control, the biped robot can walk stably over a wide range of speed. Furthermore, the walking performance of the robot increases with the increase of the radius of circular feet.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages3224-3229
Number of pages6
DOIs
Publication statusPublished - 2007 Nov 27
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: 2007 Apr 102007 Apr 14

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period07/4/1007/4/14

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    Narukawa, T., Takahashi, M., & Yoshida, K. (2007). Level-ground walk based on passive dynamic walking for a biped robot with torso. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07 (pp. 3224-3229). [4209588] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2007.363970