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Strict stealth walking gait generation for 3-link underactuated biped robots

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Abstract

In this paper, we propose a method for generating a stable stealth gait on frictionless road surface without including the double-limb support phase for biped robots. First, we introduce a model of a biped robot with an upper body, and derive the conditions to maintain the horizontal ground reaction force at zero. Second, we derive an approximate analytical solution for the target initial state using the linearized equation of motion. Third, to generate a stealth walking gait of the nonlinear model, we propose a numerical method to identify the target initial state based on the result of the linearized model, and evaluate the mathematical results obtained through numerical simulations. Furthermore, we discuss the effect of semicircular feet on the improvement of energy efficiency.

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Acknowledgements

This research was partially supported by Shibuya Science Culture and Sports Foundation.

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Authors and Affiliations

  1. Graduate School of Advanced Science and Technology, Japan Advanced Institute of Science and Technology, 1-1 Asahidai, Nomi, Ishikawa, 923-1292, Japan

    Hiroki Shibata & Fumihiko Asano

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  1. Hiroki Shibata
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  2. Fumihiko Asano
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Correspondence to Fumihiko Asano.

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This work was presented in part at the 3rd International Symposium on Swarm Behavior and Bio-Inspired Robotics (Okinawa, Japan, November 20–22, 2019).

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Shibata, H., Asano, F. Strict stealth walking gait generation for 3-link underactuated biped robots. Artif Life Robotics 25, 603–611 (2020). https://doi.org/10.1007/s10015-020-00651-1

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  • DOI: https://doi.org/10.1007/s10015-020-00651-1

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