From passive to active dynamic walking

DOI10.1002/RNC.571MaRDI QIDQ2716795zbMATH OpenOpenAlexFDO

Authors Hiroki Ohta, Masaki Yamakita, Katsuhisa Furuta

Publication date 16 June 2003

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rnc.571

zbMATH Keywords

active walkingconstraintslimit cycleLQ optimal controlpassive walking on a slopewalking robot

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85)

Review text

This paper considers a walking robot with knees on level ground imitating the passive walking on a slope using a small control. The basic feature of the proposed controller is that the dynamics of the active walking robot is matched to that of the passive walking one. The control is activated in a region of the phase space so that at the boundary of the region, which is determined by changes of constraints of leg motions, the state is controlled to a desirable one. The passive walking robot is first actively controlled to continue to walk with an actuator at the hip. Then, the dynamics of the walking robot on the level ground is matched to that of the stabilized passive walking robot on the slope by implementing actuators at the ankles as well as at the hip. It is shown via numerical simulation for an experimental robot that successful walk can be achieved without any gait planning.

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(5)

• An upper-body can improve the stability and efficiency of passive dynamic walking
• Design and analysis of active disturbance rejection control system for under actuation walking robot
• Walking control by chattering-free VS servo using passive walking trajectory
• Passive walking towards running
• Indirectly controlled limit cycle walking of combined rimless wheel based on entrainment to active wobbling motion

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