Abstract
The design of a bipedal walker that enables a human-like, compliant walking motions with simple control commands is presented. The design includes a passive knee bending/stretching mechanism with a latch hinge and a parted foot structure with compliant spring-based actuation. In addition, the leg posture, asymmetric lateral spring placement, round ankles, active hip sway, pelvic tilt actuation, and provisions for simple control were designed to implement the desired walking motion. The prototype bipedal walker was built with a combination of passive and actuated joints, utilizing springs around the joints for further compliancy. Experiments were conducted using the prototype bipedal walker in order to evaluate the design.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Hirai, K., Hirose, M., Haikawa, Y., Takenaka, T.: The Development of Honda Humanoid. In: IEEE International Conference on Robotics and Automation, vol. 2, pp. 1321–1326 (1998)
Park, I., Kim, J., Lee, J., Oh, J.: Mechanical Design of Humanoid Robot Platform KHR-3 (KAIST Humanoid Robot-3: Hubo). In: IEEE-RAS International Conference on Humanoid Robots, pp. 321–326 (2005)
Gouaillier, D., Hugel, V., Blazevic, P., Kilner, C., Chris, M.: Mechatronic Design of NAO Humanoid. In: IEEE International Conference on Robotics and Automation, pp. 769–774 (2009)
Kaneko, K., Harada, K., Kanehiro, F., Miyamori, G., Akachi, K.: Humanoid Robot HRP-3. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2471–2478 (2008)
Kim, M., Kim, I., Park, S., Oh, J.: Realization of stretch-legged walking of the humanoid robot. In: IEEE-RAS International Conference on Humanoid Robots, pp. 118–124 (2008)
Nishiwaki, K., Kagami, S., Kuniyoshi, Y., Inaba, M., Inoue, H.: Toe joints that enhance bipedal and fullbody motion of humanoid robots. In: IEEE International Conference on Robotics and Automation, vol. 3, pp. 3105–3110 (2002)
McGeer, T.: Passive Dynamic Walking. International Journal of Robotics Research 9, 62–82 (1990)
Garcia, M., Chatterjee, A., Ruina, A.: Efficiency, speed, and scaling of two-dimensional passive-dynamic walking. Dynamics and Stability of Systems 15, 75–99 (2000)
Collins, S., Ruina, A.: A Bipedal Walking Robot with Efficient and Human-Like Gait. In: IEEE International Conference on Robotics and Automation, pp. 1983–1988 (2005)
Collins, S., Ruina, A., Tedrake, R., Wisse, M.: Efficient Bipedal Robots based on Passive-dynamic Walkers. Science 307, 1082–1085 (2005)
Kuo, A.: Energetics of Actively Powered Locomotion using the Simplest Walking Model. Transactions-American Society of Mechanical Engineers, Journal of Biomechanical Engineering 124, 113–120 (2002)
Wu, T., Yeh, T.: Optimal Design and Implementation of an Energy-efficient Biped Walking in Semi-active Manner. Robotica 27, 841–852 (2008)
Perry, J.: Gait Analysis: Normal and Pathological Function. Journal of Pediatric Orthopaedics 12, 815 (1992)
Robotis©, Dynamixel, http://www.robotis.com/xe/dynamixel_en
Interlink Electronics©. FSR 400 Series, http://www.interlinkelectronics.com/Product/Standard-402-FSR
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this chapter
Cite this chapter
Lee, H., Jo, S. (2014). Design of a Bipedal Walker with a Passive Knee and Parted Foot. In: Kim, JH., Matson, E., Myung, H., Xu, P., Karray, F. (eds) Robot Intelligence Technology and Applications 2. Advances in Intelligent Systems and Computing, vol 274. Springer, Cham. https://doi.org/10.1007/978-3-319-05582-4_32
Download citation
DOI: https://doi.org/10.1007/978-3-319-05582-4_32
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-05581-7
Online ISBN: 978-3-319-05582-4
eBook Packages: EngineeringEngineering (R0)