Development of a three-dimensional dynamic biped walking via the oscillation of telescopic knee joint and its gait analysis
DOI:
https://doi.org/10.15282/jmes.9.2015.1.0149Keywords:
Passive dynamic walking; flat feet; frequency analysis; ZMPAbstract
The purpose of this study is to extend the three-dimensional (3-D) passive dynamic biped walker to a 3-D dynamic biped walker, i.e., a walker that can walk on a horizontal surface based on a passive dynamic walking. A new prototype of 3-D biped walker called RW04, which has telescopic knee joints, was developed and its ability for walking was validated through some experiments. A sinusoidal oscillation, which is regarded as a central pattern generator with no sensory feedback, was provided to the knee joints to achieve the biped walking. The results showed that the biped gait of RW04 was possible only via a sinusoidal oscillation of the knee joint. Moreover, the 3-D dynamic walking gait via frequency response and zero moment point (ZMP) trajectory was also analyzed. The biped locomotion had a resonance, i.e., the frequency matched the natural frequency of the locomotion in the gain property. An “8” shaped ZMP trajectory was observed, which was found to be similar to that of the human gait. However, the simple sinusoidal oscillation had limitations such as stride reduction or discontinuation by phase difference. Therefore, in future work, more adaptable control strategy such as a sensory feedback using ZMP should be provided.
References
McGeer T. Passive dynamic walking. Technical Report CSS-IS TR 88-02. 1988:51.
Fallis GT. Walking toy. U.S. Patent no.376588; 1888.
Wilson JE. Walking toy. U.S. Patent no.2140275; 1938.
Coleman MJ, Ruina A. An uncontrolled walking toy that cannot stand still. Physical Review Letters. 1998;80:3658 - 61.
Kuo AD. Stabilization of lateral motion in passive dynamic walking. The International journal of robotics research. 1999;18:917-30.
Collins SH, Wisse M, Ruina A. A three-dimensional passive-dynamic walking robot with two legs and knees. The International Journal of Robotics Research. 2001;20:607-15.
Narukawa T, Yokoyama K, Takahashi M, Yoshida K. Design and construction of a simple 3D straight-legged passive walker with flat feet and ankle springs. Journal of System Design and Dynamics. 2009;3:1-12.
McGeer T. Stability and control of two-dimensional biped walking. Technical report CSS-IS TR 88-02. 1988.
Collins S, Ruina A, Tedrake R, Wisse M. Efficient bipedal robots based on passive-dynamic walkers. Science. 2005;307:1082-5.
Wisse M. Three additions to passive dynamic walking: actuation, an upper body, and 3D stability. International Journal of Humanoid Robotics. 2005;2:459-78.
Wisse M, Van der Linde RQ. Delft pneumatic bipeds: Springer Science & Business Media; 2007.
Narioka K, Hosoda K. Designing synergistic walking of a whole-body humanoid driven by pneumatic artificial muscles: An empirical study. Advanced Robotics. 2008;22:1107-23.
Hosoda K, Takuma T, Nakamoto A, Hayashi S. Biped robot design powered by antagonistic pneumatic actuators for multi-modal locomotion. Robotics and Autonomous Systems. 2008;56:46-53.
Bhounsule PA, Cortell J, Grewal A, Hendriksen B, Karssen JD, Paul C, et al. Low- bandwidth reflex-based control for lower power walking: 65 km on a single battery charge. The International Journal of Robotics Research. 2014;33:1305-21.
Hobbelen DG, Wisse M. Ankle joints and flat feet in dynamic walking. Climbing and Walking Robots: Springer; 2005. p. 787-800.
Wisse M, Hobbelen DG, Rotteveel RJ, Anderson SO, Zeglin GJ. Ankle springs instead of arc-shaped feet for passive dynamic walkers. 6th IEEE-RAS International Conference on Humanoid Robots. 2006, p. 110-6.
Kinugasa T, Yoshida K, Kotake K, Fujimura K, Tanaka H, Ogawa K. 3D passive walker with ankle springs and flat feet. Journal of Robotics Society of Japan. 2009;27:91-4.
Kinugasa T, Yoshida K. 3D Passive Dynamic Walkers with Flat Feet and Ankle Springs: Experiment and Analysis For Longer and More Stable Step. Proceedings of International Symposium on Mobiligence. 2009:425-30.
Kinugasa T, Akiyama T, Idris MA, Yoshida K, Iribe M. Experimental analysis of 3D passive dynamic walking: Body's shape, CoM and stability. Proceedings of SICE Annual Conference. 2010, p. 1825-30.
Ono K, Takahashi R, Shimada T. Self-excited walking of a biped mechanism. The International Journal of Robotics Research. 2001;20:953-66.
Minakata H, Tadakuma S. An experimental study of passive dynamic walking with non-rotate knee joint biped. Proceedings of the ICASE/SICE Workshop– Intelligent Control and Systems. 2002, p. 298-303.
Asano F, Luo Z. Parametrically excited dynamic walking control of telescopic legged robots. Journal Robotics Society of Japan. 2005;23:144.
Miyakoshi S, Cheng G. Examining human walking characteristics with a telescopic compass-like biped walker model. IEEE International Conference on Systems, Man and Cybernetics. 2004, p. 1538-43.
Kinugasa T, Osuka K, Miwa S. Biped walking by variations of knee lengths and attitude control of a body and its frequency Analysis. Journal Robotics Society of Japan. 2007;25:116.
Kinugasa T, Miwa S, Yoshida K. Frequency analysis for biped walking via leg length variation. Journal of Robotics and Mechatronics. 2008;20:98.
Iribe M, Furukawa H, Kojima S. Development of Compass Passive Dynamic Walking Robot with Expansion and Contraction Mechanism. Proceedings of JSME Conference on Robotics and Mechatronics. 2010. p. 2A-F04.
Ito T, Kinugasa T, Akagi T, Fujimoto S, Yoshida K, Iribe M. Measurement of walking gait for 3D Passive dynamic biped walker. . Proceedings of XX IMEKO World Congress. 2012.
Nishiyama S, Nomura T, Sato S. Estimation of zero moment point trajectory during human gait locomotion based on a three-dimensional rigid-link model. Technical report on ME and Bio-cybernetics of The Institute of Electronics, Information and Communication Engineers. 2002:59-64.
