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Uphill and level walking of a three-dimensional biped quasi-passive walking robot by torso control

Published online by Cambridge University Press:  15 July 2014

Ying Cao ,
Soichiro Suzuki  and
Yohei Hoshino
Ying Cao*
Affiliation:
Graduate School of Engineering, Kitami Institute of Technology, Kitami, Hokkaido, Japan
Soichiro Suzuki
Affiliation:
Department of Mechanical Engineering, Kitami Institute of Technology, Kitami, Hokkaido, Japan
Yohei Hoshino
Affiliation:
Department of Mechanical Engineering, Kitami Institute of Technology, Kitami, Hokkaido, Japan
*
*Corresponding author. E-mail: d1171508033@std.kitami-it.ac.jp
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Summary

Passive walking robots can walk on a slight downward slope powered only by gravity. We propose a novel control strategy based on forced entrainment to stabilize a three-dimensional quasi-passive walking robot in uphill and level walking by using torso control in the frontal plane and synchronization of lateral motion with swing leg motion. We investigated the robot's walking energy efficiency, energy transformation, and transfer in simulation. The results showed that the proposed method is effective and energy-efficient for uphill and level walking. The relationship between energy utilization rate of actuation and energy efficiency of the robot was revealed, and mechanical energy transformation and transfer were characterized.

Keywords

Biped robotPassive walkingTorso controlForced entrainmentEnergy efficiencyEnergy transformationEnergy transfer
Type
Articles
Information
Robotica , Volume 34 , Issue 3 , March 2016 , pp. 483 - 496
Copyright
Copyright © Cambridge University Press 2014 

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