Adding an Upper Body to Passive Dynamic Walking Robots by Means of a Bisecting Hip Mechanism

2007 ◽  
Vol 23 (1) ◽  
pp. 112-123 ◽  
Author(s):  
Martijn Wisse ◽  
Daan G. E. Hobbelen ◽  
Arend L. Schwab
Keyword(s):  
Upper Body ◽  
Walking Robots ◽  
Dynamic Walking ◽  
Passive Dynamic Walking

THREE ADDITIONS TO PASSIVE DYNAMIC WALKING: ACTUATION, AN UPPER BODY, AND 3D STABILITY

2005 ◽  
Vol 02 (04) ◽  
pp. 459-478 ◽  
Author(s):  
MARTIJN WISSE
Keyword(s):  
Simulation Models ◽  
Human Locomotion ◽  
Upper Body ◽  
Walking Robots ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Kinematic Coupling ◽  
Ankle Joints ◽  
Stable Gait ◽  
Static Form

One of the main challenges in the design of human-like walking robots (useful for service or entertainment applications as well as the study of human locomotion) is to obtain dynamic locomotion, as opposed to the static form of locomotion demonstrated by most of the current prototypes. A promising concept is the idea of passive dynamic walking; even completely unactuated and uncontrolled mechanisms can perform a stable gait when walking down a shallow slope. This concept enables the construction of dynamically walking prototypes that are simpler yet more natural in their motions than the static bipeds. This paper presents three additions to the concept of passive dynamic walking. First, hip actuation is added to increase the fore-aft stability and to provide power to the system, removing the need for a downhill floor. Second, a bisecting hip mechanism is introduced to allow the addition of a passive upper body without compromising the simplicity, efficiency and naturalness of the concept of passive dynamic walking. Third, skateboard-like ankle joints are implemented to provide 3D stability. These ankles couple the unstable sideways lean motion to yaw (steering), a kinematic coupling which provides sideways stability when walking with sufficient forward velocity. The three additions are investigated both with elementary simulation models and with prototype experiments. All three prototypes demonstrate an uncannily natural and stable gait while requiring only two foot switches and three on/off actuators.

Optimized Configuration for the Upper Body with a Bisecting Hip Mechanism in Passive Dynamic Walking

2010 ◽  
Vol 39 ◽  
pp. 306-311 ◽  
Author(s):  
Jie Zhao ◽  
Xiao Guang Wu ◽  
Xi Zhe Zang ◽  
Ji Hong Yan ◽  
Lei Zhu
Keyword(s):  
Angular Momentum ◽  
Local Stability ◽  
Momentum Conservation ◽  
Swing Phase ◽  
Upper Body ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Lagrange Method ◽  
Humanoid Robotics ◽  
Random Disturbances

Biped passive dynamic walking is a promising idea towards the goal of humanoid robotics further after the proposal of the upper body in these years. In this paper, we deduce the dynamic robot model with the upper body based on bisecting hip, in which the section of the swing phase is performed by Lagrange method, while the section of the collision phase is completed in terms of the principle of angular momentum conservation. The analysis of the global stability and the local stability are combined with each other, based on which the configurations of parameters with different mass and size of the upper body are discussed. Finally the optimized configuration of the model is obtained after the simulation in Adams environment. Results verify that the model with an upper body exhibits an extraordinary stability and robustness under circumstances of either a single disturbance or random disturbances.

EFFECTS OF FOOT SHAPE ON ENERGETIC EFFICIENCY AND DYNAMIC STABILITY OF PASSIVE DYNAMIC BIPED WITH UPPER BODY

2010 ◽  
Vol 07 (02) ◽  
pp. 295-313 ◽  
Author(s):  
QINING WANG ◽  
YAN HUANG ◽  
JINYING ZHU ◽  
LONG WANG ◽  
DONGJIAO LV
Keyword(s):  
Dynamic Stability ◽  
Computer Simulations ◽  
Upper Body ◽  
Human Gait ◽  
Energetic Efficiency ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Flat Feet ◽  
Simulation Results

Passive dynamic walking has been developed as a possible explanation for the efficiency of the human gait. In this paper, we investigate the effects of foot shape on energetic efficiency and dynamic stability of passivity-based bipeds with upper body. Three walking models with point feet, round feet and flat feet were presented. Each model has an upper body constrained to keep midway between legs. We use computer simulations to find which foot shapes are indeed optimal in view of energetic efficiency and dynamic stability for a passive dynamic biped with upper body. Simulation results indicate that feet improve both the energetic efficiency and dynamic stability of passive dynamic bipeds.

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