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

Terumasa Narukawa, Masaki Takahashi, Kazuo Yoshida

研究成果: Conference contribution

22 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトル2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
出版者IEEE Computer Society
ページ4009-4014
ページ数6
ISBN(印刷物)0780389123, 9780780389120
DOI
出版物ステータスPublished - 2005

出版物シリーズ

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

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Control and Systems Engineering
  • Artificial Intelligence
  • Computer Vision and Pattern Recognition

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  • これを引用

    Narukawa, T., Takahashi, M., & Yoshida, K. (2005). 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 (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