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 publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3224-3229
Number of pages6
DOIs
Publication statusPublished - 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: 2007 Apr 102007 Apr 14

Other

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

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Robots
Gravitation
Computer simulation

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Narukawa, T., Takahashi, M., & Yoshida, K. (2007). Level-ground walk based on passive dynamic walking for a biped robot with torso. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3224-3229). [4209588] https://doi.org/10.1109/ROBOT.2007.363970

Level-ground walk based on passive dynamic walking for a biped robot with torso. / Narukawa, Terumasa; Takahashi, Masaki; Yoshida, Kazuo.

Proceedings - IEEE International Conference on Robotics and Automation. 2007. p. 3224-3229 4209588.

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

Narukawa, T, Takahashi, M & Yoshida, K 2007, Level-ground walk based on passive dynamic walking for a biped robot with torso. in Proceedings - IEEE International Conference on Robotics and Automation., 4209588, pp. 3224-3229, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 07/4/10. https://doi.org/10.1109/ROBOT.2007.363970
Narukawa T, Takahashi M, Yoshida K. Level-ground walk based on passive dynamic walking for a biped robot with torso. In Proceedings - IEEE International Conference on Robotics and Automation. 2007. p. 3224-3229. 4209588 https://doi.org/10.1109/ROBOT.2007.363970
Narukawa, Terumasa ; Takahashi, Masaki ; Yoshida, Kazuo. / Level-ground walk based on passive dynamic walking for a biped robot with torso. Proceedings - IEEE International Conference on Robotics and Automation. 2007. pp. 3224-3229
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