scholarly journals Experimental verification of the characteristic behaviors in passive dynamic walking

2021 ◽  
Author(s):  
Masatsugu Iribe ◽  
Ryoichi Hirouji ◽  
Daisuke Ura ◽  
Koichi Osuka ◽  
Tetsuya Kinugasa
Keyword(s):  
Numerical Simulations ◽  
Experimental Verification ◽  
Chaotic Behavior ◽  
Adaptive Behaviors ◽  
Robot Design ◽  
Legged Robot ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Environment Changes

AbstractIt is well known that passive dynamic walking shows chaotic behavior owing to changes in the environment. In addition, when the environment changes continuously during walking, passive dynamic walking shows “adaptive behaviors” in which the stride angle changes itself in an attempt to keep walking. These behaviors are very interesting and useful for the legged robot design. However, the studies on passive dynamic walking are preceded only by numerical simulations. For this reason, it is very important to confirm, by actual experiments, whether these characteristic behaviors appear. In this paper, we verify the existence of these behaviors by several actual experiments.

Legged Robot design applying the behavior of Passive Dynamic Walking

2014 ◽  
Vol 1 ◽  
pp. 175-178
Author(s):  
Masatsugu Iribe ◽  
Haruyuki Hirose ◽  
Tetsuya Kinugasa ◽  
Koichi Osuka
Keyword(s):  
Robot Design ◽  
Legged Robot ◽  
Dynamic Walking ◽  
Passive Dynamic Walking

scholarly journals Legged Walking Robot Design Applying a Behavior of Passive Dynamic Walking

2015 ◽  
Vol 51 (5) ◽  
pp. 329-335 ◽  
Author(s):  
Daisuke URA ◽  
Masatsugu IRIBE ◽  
Koichi OSUKA ◽  
Tetsuya KINUGASA
Keyword(s):  
Robot Design ◽  
Dynamic Walking ◽  
Walking Robot ◽  
Passive Dynamic Walking

A novel dynamic walker with heel, ankle, and toe rocker motions

Robotica ◽  
2011 ◽  
Vol 29 (6) ◽  
pp. 883-893 ◽  
Author(s):  
R. Prasanth Kumar ◽  
Abdullah Özer ◽  
Gabsoon Kim ◽  
Jungwon Yoon
Keyword(s):  
Energy Efficiency ◽  
Numerical Simulations ◽  
Ankle Joint ◽  
Mass Distribution ◽  
Equations Of Motion ◽  
Dynamic Walking ◽  
Leg Length ◽  
Passive Dynamic Walking ◽  
Flat Foot ◽  
Low Speed

SUMMARYThis paper proposes a novel dynamic walker capable of walking with heel, ankle, and toe rocker motions. The heel and toe rocker motions are obtained by using inelastic stoppers between leg and foot, which limit the range of rotation of the foot about the ankle joint. A generalized set of equations of motion and associated transition equations applicable for multiple foot segments is derived. Passive dynamic walking is studied with equal heel and toe strike angles for the case of symmetric foot walking. It is shown that by including the ankle joint, low-speed walking is made possible. The energy efficiency of the proposed walker is studied theoretically and through numerical simulations. Finally, three different underactuated modes of active walking that do not require toe and heel actuation are presented. In order to implement these modes of walking, the proposed walker can be constructed with little modification from an existing flat-foot walker that uses ankle rocker motion alone. Results show that substantial benefits can be obtained in efficiency and stability compared to point/flat-foot walker of the same leg length and mass distribution.

Asymptotic Realization of Desired Control Performance by Body Adaptation of Passive Dynamic Walker

2017 ◽  
Vol 29 (3) ◽  
pp. 480-489 ◽  
Author(s):  
Daisuke Ura ◽  
◽  
Yasuhiro Sugimoto ◽  
Yuichiro Sueoka ◽  
Koichi Osuka
Keyword(s):  
Design Method ◽  
Step Length ◽  
Physical Parameters ◽  
Legged Robot ◽  
Dynamic Walking ◽  
Trial And Error ◽  
Leg Length ◽  
Passive Dynamic Walking ◽  
Variable Parameters ◽  
Passive Dynamic Walker

[abstFig src='/00290003/03.jpg' width='300' text='Schematic of the proposed design method' ] This article proposes a design method of legged walking robot hardware capable of performing passive dynamic walking with its desirable characteristics. Passive dynamic walking has a relatively good energy efficiency, and is said to be similar to the walking style of animals. However, most legged robot hardware capable of passive dynamic walking is designed through trial and error on the basis of experience. One of the major problems of designing through trial and error is the difficulty of verifying walking for the legged robot hardware that has many degree of freedom. It is relatively easy to determine the initial condition for compass-type robot hardware. However, it often takes long time to determine the appropriate initial conditions and slope angles for complicated robots such as legged robots with knees. We proposed and verified a method to design a legged robot with knees that has a desired leg length and leg mass from a compass-type legged robot. In this article, we propose a method to design a passive dynamic walker that has a desired leg angle, step length, leg mass, etc., and verify the resulting design. More specifically, the physical parameters, such as the leg length, leg mass, and joint friction, are defined as “physical parameters” and the parameters acquired as the result of walking, such as the leg angle, step length, and walking cycle, are defined as “variable parameters.” By observing variable parameters while the robot is walking and by changing the physical parameters according to the observed variable parameters, the variable parameters are indirectly changed to desired values.

Estimation of the Stable Fixed Point of Passive Dynamic Walking with BP Neural Network

ROBOT ◽  
2010 ◽  
Vol 32 (4) ◽  
pp. 478-483 ◽  
Author(s):  
Xiuhua NI ◽  
Weishan CHEN ◽  
Junkao LIU ◽  
Shengjun SHI
Keyword(s):  
Neural Network ◽  
Fixed Point ◽  
Bp Neural Network ◽  
Stable Fixed Point ◽  
Dynamic Walking ◽  
Passive Dynamic Walking
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