Level-ground walk based on passive dynamic walking for a biped robot with torso

Terumasa Narukawa; Masaki Takahashi; Kazuo Yoshida

doi:10.1109/ROBOT.2007.363970

Level-ground walk based on passive dynamic walking for a biped robot with torso

Terumasa Narukawa, Masaki Takahashi, Kazuo Yoshida

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

10 Citations (Scopus)

Abstract

This study presents a design technique of an efficient biped walking robot on level ground with a simple mechanism based on passive-dynamic walking. A torso is used to generate active power replacing gravity used in passive walk. Swing-leg control is introduced to create a steady gait. Numerical simulations show that a biped robot with knees and a torso can walk efficiently on level ground. When we choose an appropriate parameter of the swing-leg control, the biped robot can walk stably over a wide range of speed. Furthermore, the walking performance of the robot increases with the increase of the radius of circular feet.

Original language	English
Title of host publication	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages	3224-3229
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2007.363970
Publication status	Published - 2007 Nov 27
Event	2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy Duration: 2007 Apr 10 → 2007 Apr 14

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/Territory	Italy
City	Rome
Period	07/4/10 → 07/4/14

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2007.363970

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Level-ground walk based on passive dynamic walking for a biped robot with torso. / Narukawa, Terumasa; Takahashi, Masaki; Yoshida, Kazuo.
2007 IEEE International Conference on Robotics and Automation, ICRA'07. 2007. p. 3224-3229 4209588 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Narukawa, T, Takahashi, M & Yoshida, K 2007, Level-ground walk based on passive dynamic walking for a biped robot with torso. in 2007 IEEE International Conference on Robotics and Automation, ICRA'07., 4209588, Proceedings - IEEE International Conference on Robotics and Automation, pp. 3224-3229, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 07/4/10. https://doi.org/10.1109/ROBOT.2007.363970

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Level-ground walk based on passive dynamic walking for a biped robot with torso

Abstract

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