Massachusetts Institute of Technology
Sign in

Dynamic Walking 2010. Fumihiko Asano. Energy-based Control Approaches to Efficient Dynamic Bipedal Walking.

We have proposed methods for generating energy-efficient dynamic bipedal gait based on passive dynamics. Parametrically excited dynamic bipedal walking is a novel approach to efficient level dynamic walking. In this method, the robot restores mechanical energy by pumping the telescopic legs without using any rotary actuators, and stable ZMP-free walking on level ground is then easily achieved. This method has also been extended to the cases of knee-joint actuation and ornithoid walking. In this presentation, we first outline the mathematical modeling, control laws, numerical simulations, and experimental results. Second, we introduce our method for generating an asymptotic stable gait based on the stability principle of a rimless wheel, and explain the importance of controlling mechanical energy in enhancing the asymptotic stability. We also analyzed the efficiency of asymmetric 2-period gait using an asymmetric rimless wheel model. Through the theoretical analysis, we found there is a possibility that asymmetric 2-period gait is less efficient than symmetric 1-period one in terms of the walking speed. We finally talk about our recent results on the effect of delayed feedback control (DFC) on the gait efficiency. We apply DFC to a parametrically excited walker with knees and examine how the walking speed and the stable domain change after the stabilization to 1-period gait. Based on the numerical results, we discuss about the role of period-doubling bifurcation in limit cycle walking.

Comments (0)

It looks like no one has posted a comment yet. You can be the first!

You need to log in, in order to post comments.

Dynamic Walking 2010

Dynamic Walking 2010

Category: Education | Updated over 7 years ago

Created
August 03, 2010 08:53
Category
License
All Rights Reserved (What is this?)
Additional Files


Viewed
6761 times

More from Dynamic Walking 2010

Dynamic Walking 2010. Tom Roberts. Fast, cheap and out of control: dynamic interactions of elastic structures and muscle motors

Dynamic Walking 2010. Tom Roberts. ...

Added over 7 years ago | 00:44:10 | 3799 views

Dynamic Walking 2010. Jerry Pratt. Humanoid Disturbance Recovery with Limited Available Footholds

Dynamic Walking 2010. Jerry Pratt. ...

Added over 7 years ago | 00:33:23 | 4739 views

Dynamic Walking 2010. Russ Tedrake. Feedback Motion Planning via Sums-of-Squares Verification

Dynamic Walking 2010. Russ Tedrake....

Added over 7 years ago | 00:46:46 | 7505 views

Dynamic Walking 2010. Shuuji Kajita. Development of Cybernetic Human HRP-4C - struggle to realize human walking

Dynamic Walking 2010. Shuuji Kajita...

Added over 7 years ago | 00:47:15 | 5620 views

Dynamic Walking 2010. Robert Gregg. Control and Planning with Asymptotically Stable Gait Primitives: 3D Dynamic Walking to Locomotor Rehabilitation.

Dynamic Walking 2010. Robert Gregg....

Added over 7 years ago | 00:33:35 | 7031 views

Dynamic Walking 2010. Aaron Ames. First steps toward closing the loop on walking: from human walking to hybrid systems to robotic walking and back

Dynamic Walking 2010. Aaron Ames. F...

Added over 7 years ago | 00:48:59 | 6195 views