Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 24, Issue 6, Pages 1289-1301Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2008.2006234
Keywords
Dynamic bipedal walking; efficiency; gait generation; mechanical energy; parametric excitation
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Funding
- Japan Society for the Promotion of Science (JSPS) [18360115]
- Grants-in-Aid for Scientific Research [18360115] Funding Source: KAKEN
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We clarified that the common necessary condition for generating a dynamic gait results from the requirement to restore mechanical energy through studies on passive dynamic walking mechanisms. This paper proposes a novel method of generating a dynamic gait that can be found in the mechanism of a swing inspired by the principle of parametric excitation using telescopic leg actuation. We first introduce a simple underactuated biped model with telescopic legs and semicircular feet and propose a law to control the telescopic leg motion. We found that a high-speed dynamic bipedal gait can easily be generated by only pumping the swing leg mass. We then conducted parametric studies by adjusting the control and physical parameters and determined how well the basic gait performed by introducing some performance indexes. Improvements in energy efficiency by using an elastic-element effect were also numerically investigated. Further, we theoretically proved that semicircular feet have a mechanism that decreases the energy dissipated by heel-strike collisions. We provide insights throughout this paper into how zero-moment-point-free robots can generate a novel biped gait.
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