Development and motion control of a biped walking robot based on passive walking theory

Authors:
Jae Hoon Lee;Shingo Okamoto;Hisashi Koike;Keiya Tani
Affiliations:
Department of Mechanical Engineering, Graduate School of Science and Engineering, Ehime University, Matsuyama, Japan 790-8577;Department of Mechanical Engineering, Graduate School of Science and Engineering, Ehime University, Matsuyama, Japan 790-8577;Mitsubishi Electric Engineering Company Ltd., Himeji, Japan;GS Yuasa International Ltd., Kyoto, Japan
Venue:
Artificial Life and Robotics
Year:
2014

Citing 2
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Passive dynamic walking

International Journal of Robotics Research
Efficient walking with optimization for a planar biped walker with a torso by hip actuators and springs

Robotica

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Abstract

This research aims to develop the biped walking robot that can walk on the horizontal ground and improve walking efficiency by utilizing the theory of the passive walking robot, namely the pendulum principle. For that, two motors were installed on the hip of the robot to generate the control torques to perform a walking motion. The computer simulations with dynamic model were carried out to investigate the walking capability of the system. Experimental robot was developed considering the calculated results. The proportional control law was used in walking experiment. The robot can walk on the horizontal ground with the proposed method.