Title :
Passive dynamic walking with elastic energy
Author :
Mizuno, Masahiro ; Ohtake, Hiroshi ; Tanaka, Kazuo ; Wang, Hua O.
Author_Institution :
Dept. of Mech. Eng. & Intell. Syst., Univ. of Electro-Commun., Chofu
Abstract :
This paper presents passive dynamic walking with elastic energy. We propose a new type of passive dynamic walking robot. by adding elastic materials such as spring or rubber between a supporting leg and a swing leg of the robot By utilizing restoring force of spring or rubber, we can make the passive dynamic walking robot easily walk since the crotch angle between legs is restricted. In this paper, we firstly derive dynamics of the passive dynamic walking robot with elastic energy. Next, we show the effectiveness of adding elastic energy by computer simulation. Finally, we make the actual passive dynamic walking robot with elastic energy and carry out walking experiments.
Keywords :
elastodynamics; mobile robots; robot dynamics; rubber; springs (mechanical); crotch angle; elastic energy; elastic materials; passive dynamic walking robot; rubber; spring; Aerodynamics; Aerospace materials; Computer simulation; Intelligent systems; Leg; Legged locomotion; Mechanical engineering; Nonlinear dynamical systems; Rubber; Springs; Elastic Energy; Passive Dynamic Walking;
Conference_Titel :
SICE Annual Conference, 2008
Conference_Location :
Tokyo
Print_ISBN :
978-4-907764-30-2
Electronic_ISBN :
978-4-907764-29-6
DOI :
10.1109/SICE.2008.4655220
