A physical principle of gait generation and its stabilization derived from mechanism of fixed point

Author

Ikemata, Yoshito ; Sano, Akihito ; Fujimoto, Hideo

Author_Institution

Dept. of Mech. Eng., Nagoya Inst. of Technol.

fYear

2006

fDate

15-19 May 2006

Firstpage

836

Lastpage

841

Abstract

Passive walker with knees can walk down shallow slope in a natural gait and can exhibit a stable limit cycle. Though the passive walker is mechanically simple, it is a sort of hybrid system that combines the continuous dynamics of leg-swing motion and the discrete event of leg-exchange. In this paper, we focus on the mechanism of fixed point. We demonstrate a physical principle of gait generation and its stabilization derived from the mechanism of fixed point. Based on the principle, we made a simple improvement on passive walker with knees. The passive walker could have high stability, and could walk on treadmill for 4010 steps

Keywords

continuous time systems; discrete event systems; legged locomotion; limit cycles; robot dynamics; stability; continuous dynamics; discrete event system; gait generation; leg-swing motion; passive walker; stable limit cycle; Actuators; Eigenvalues and eigenfunctions; Equations; Knee; Leg; Legged locomotion; Limit-cycles; Mechanical engineering; Mechanical systems; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1641813

Filename

1641813