Painlevé paradox during passive dynamic walking of biped robots

2017 ◽  
Author(s):  
Ye Kuang ◽  
Yunian Shen ◽  
Wei Wang ◽  
Sai Zhang
Keyword(s):  
Dynamic Walking ◽  
Painlevé Paradox ◽  
Passive Dynamic Walking ◽  
Biped Robots

Efficient dynamic bipedal walking using effects of semicircular feet

Robotica ◽  
2010 ◽  
Vol 29 (3) ◽  
pp. 351-365 ◽  
Author(s):  
Fumihiko Asano ◽  
Zhi-Wei Luo
Keyword(s):  
Ankle Joint ◽  
High Speed ◽  
Joint Torque ◽  
Bipedal Walking ◽  
Convex Curve ◽  
Driving Mechanism ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Biped Robots ◽  
Flat Feet

SUMMARYAchieving energy-efficient and high-speed dynamic walking has become one of the main subjects of research in the area of robotic biped locomotion, and passive dynamic walking has attracted a great deal of attention as a solution to this. It is empirically known that the convex curve of the foot, which characterizes passive–dynamic walkers, has an important effect on increasing the walking speed.This paper mainly discusses our investigations into the driving mechanism for compass-like biped robots and the rolling effect of semicircular feet. We first analyze the mechanism for a planar fully actuated compass-like biped model to clarify the importance of ankle-joint torque by introducing a generalized virtual-gravity concept. A planar underactuated biped model with semicircular feet is then introduced and we demonstrate that virtual passive dynamic walking only by hip-joint torque can be accomplished based on the rolling effect. We then compare the rolling effect with a flat feet model through linear approximation, and show that the rolling effect is equivalent to virtual ankle-joint torque. Throughout this paper, we provide novel insights into how zero-moment-point-free robots can generate a dynamic bipedal gait.

Development of an Advanced Model of Passive Dynamic Biped Walking

2013 ◽  
Author(s):  
Derek Koop ◽  
Christine Q. Wu
Keyword(s):  
Mathematical Model ◽  
Friction Model ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Biped Robots ◽  
Lugre Friction Model ◽  
Proposed Model ◽  
Invaluable Tool ◽  
Ground Reactions ◽  
Advanced Model

Passive dynamic walking is a manner of walking developed, partially or in whole, by the energy provided by gravity. Studying passive dynamic walking provides insight into human walking and is an invaluable tool for designing energy efficient biped robots. The objective of this research was to develop a continuous mathematical model of passive dynamic walking, in which the Hunt-Crossley contact model and the LuGre friction model were used to represent the normal and tangential ground reactions. A physical passive walker was built to validate the proposed mathematical model. A traditional impact-based passive walking model was also used as a reference to demonstrate the advancement of the proposed passive dynamic walking model. The simulated gait of the proposed model matched the gait of the physical passive walker exceptionally well, both in trend and magnitude.

Passive Dynamic Biped Walking—Part I: Development and Validation of an Advanced Model

2013 ◽  
Vol 8 (4) ◽  
Author(s):  
Derek Koop ◽  
Christine Q. Wu
Keyword(s):  
Mathematical Model ◽  
Friction Model ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Biped Robots ◽  
Lugre Friction Model ◽  
Proposed Model ◽  
Invaluable Tool ◽  
Development And Validation ◽  
Advanced Model

Passive dynamic walking is a manner of walking developed, partially or in whole, by the energy provided by gravity. Studying passive dynamic walking provides insight into human walking and is an invaluable tool for designing energy-efficient biped robots. The objective of this research was to develop a continuous mathematical model of passive dynamic walking, in which the Hunt–Crossley contact model, and the LuGre friction model were used to represent the normal and tangential ground reactions continuously. A physical passive walker was built to validate the proposed mathematical model. A traditional impact-based passive walking model was also used as a reference to demonstrate the advancement of the proposed passive dynamic walking model. The simulated gait of the proposed model matched the gait of the physical passive walker exceptionally well, both in trend and magnitude.

High-Efficient Biped Walking Based on Flat-Footed Passive Dynamic Walking with Mechanical Impedance at Ankles

2012 ◽  
Vol 24 (3) ◽  
pp. 498-506 ◽  
Author(s):  
Yuta Hanazawa ◽  
◽  
Masaki Yamakita
Keyword(s):  
Energy Efficient ◽  
Mechanical Impedance ◽  
Biped Robot ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Biped Robots ◽  
Biped Walking ◽  
Double Support ◽  
High Efficient ◽  
Support Phase

In this paper, we present novel biped walking based on flat-footed Passive Dynamic Walking (PDW) with mechanical impedance at the ankles. To realize biped robot achieving high-efficient walking, PDW has attracted attention. Recently, flat-footed passive dynamic walkers with mechanical impedance at the ankles have been proposed. We show that this passive walker achieves fast, energy-efficient walking using ankle springs and inerters. For this reason, we propose novel biped walking control that mimics PDW to realize biped robots achieving fast, energy-efficient walking on level ground. First, we design a flat-footed biped robot that achieves fast, energy-efficient PDW. To achieve walking based on PDW, the biped robot then takes advantage of a virtual gravitational field that is generated by actuators. The biped robot also pushes off with the foot in the double-support phase to restore energy. By walking simulation, we show that a flat-footed biped robot achieves fast, energy-efficient walking on level ground by the proposed method.

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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