A unified framework for virtual passive bipedal gait generation

Author

Xu, Changsheng ; Ming, A. ; Shimojo, Makoto

Author_Institution

Dept. of Mech. Eng. & Intell. Syst., Univ. of Electro-Commun., Chofu, Japan

fYear

2012

fDate

14-18 May 2012

Firstpage

3141

Lastpage

3146

Abstract

It is well known a fine tuned unpowered biped machine can passively walk down a gentle slope. The in-depth understanding of the passivity is helpful to design more efficient bipedal gaits. In this paper, we investigate the principle mechanism of passive dynamic walking and propose a unified framework for virtual passive bipedal gait generation. The framework shows the physical system´s kinetic energy varies inversely proportional to the imitated virtual system´s potential energy. Based on this property we propose a kinetic energy tracking control law to realize virtual passive dynamic walking on any slopes in any virtual gravity fields. Numerical simulations are given to support our proposal.

Keywords

gait analysis; legged locomotion; numerical analysis; position control; robot dynamics; biped robots; fine tuned unpowered biped machine; kinetic energy tracking control law; legged robots; numerical simulations; passive dynamic walking principle mechanism; physical system kinetic energy; virtual gravity fields; virtual passive bipedal gait generation; Equations; Gravity; Kinetic energy; Legged locomotion; Mathematical model; Torque; Biped robot; gait generation; kinetic energy tracking control; passive dynamic walking;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2012 IEEE International Conference on

Conference_Location

Saint Paul, MN

ISSN

1050-4729

Print_ISBN

978-1-4673-1403-9

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ICRA.2012.6224606

Filename

6224606