DocumentCode :
2944421
Title :
Limit cycle running based on flat-footed passive dynamic walking with mechanical impedance at ankles
Author :
Hanazawa, Yuta ; Yamakita, Masaki
Author_Institution :
Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Tokyo, Japan
fYear :
2012
fDate :
11-14 July 2012
Firstpage :
15
Lastpage :
20
Abstract :
To realize energy-efficient running of flat-footed biped robots, we propose novel running based on flat-footed passive dynamic walking with mechanical impedance at ankles. In recent years, ZMP-based running is popular as one of the running of humanoid robots. However, ZMP-based locomotion of the biped robots are not energy-efficient, and they require complicated trajectory planning and feedback control. Flat-footed passive dynamic walkers with mechanical impedance at ankles have been proposed as a biped robot achieving energy-efficient walking. Since they achieve energy-efficient walking without any control, we are interested in locomotion based on this passive walking. Therefore, we expect that flat-footed biped robots achieve energy-efficient running by taking advantage of the dynamics of the passive dynamic walker. In this paper, we show that the proposed method for a flat-footed biped robot achieves energy-efficient and high-speed limit cycle running.
Keywords :
feedback; humanoid robots; legged locomotion; mechanical variables control; path planning; robot dynamics; trajectory control; ZMP-based locomotion; ZMP-based running; feedback control; flat-footed biped robots; flat-footed passive dynamic walking; humanoid robots; limit cycle running; mechanical impedance; trajectory planning; zero moment point; Force; Hip; Legged locomotion; Limit-cycles; Torque; Vectors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2012 IEEE/ASME International Conference on
Conference_Location :
Kachsiung
ISSN :
2159-6247
Print_ISBN :
978-1-4673-2575-2
Type :
conf
DOI :
10.1109/AIM.2012.6265998
Filename :
6265998
Link To Document :
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