Analytical solution to transition function of state error in 1-DOF semi-passive dynamic walking

Author

Asano, Futoshi

Author_Institution

Sch. of Inf. Sci., Japan Adv. Inst. of Sci. & Technol., Nomi, Japan

fYear

2013

fDate

3-7 Nov. 2013

Firstpage

3114

Lastpage

3119

Abstract

In this paper, we derive the analytical solution to the transition function of the state error in 1-DOF semi-passive dynamic walking for understanding how the gait stability changes according to acceleration or deceleration. We introduce the model of an active rimless wheel (RW) as the simplest walker for analysis and linearize the equation of motion incorporating a simple control torque. Through mathematical investigations, we finally derive the analytical solution to the transition function of the state error for the stance phase as a function only of the control parameters. We discuss the accuracy of the solution obtained through comparison with the values numerically-integrated in the linearized and the nonlinear walking models.

Keywords

gait analysis; legged locomotion; nonlinear control systems; stability; torque control; 1-DOF semipassive dynamic walking; active rimless wheel; control torque; gait stability; mathematical investigations; nonlinear walking models; state error; transition function; Convergence; Legged locomotion; Mathematical model; Numerical stability; Stability analysis; Torque; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on

Conference_Location

Tokyo

ISSN

2153-0858

Type

conf

DOI

10.1109/IROS.2013.6696798

Filename

6696798