scholarly journals Turn Control of a Three-Dimensional Quasi-Passive Walking Robot by Utilizing a Mechanical Oscillator

Engineering ◽  
2014 ◽  
Vol 06 (02) ◽  
pp. 93-99 ◽  
Author(s):  
Ying Cao ◽  
Soichiro Suzuki ◽  
Yohei Hoshino
Keyword(s):  
Three Dimensional ◽  
Walking Robot ◽  
Mechanical Oscillator ◽  
Passive Walking

Stability Control of a Three-Dimensional Passive Walker by Periodic Input Based on the Frequency Entrainment

2011 ◽  
Vol 23 (6) ◽  
pp. 1100-1107 ◽  
Author(s):  
Soichiro Suzuki ◽  
◽  
Masamichi Takada ◽  
Yuta Iwakura ◽  
Keyword(s):  
Initial Conditions ◽  
Three Dimensional ◽  
Stability Control ◽  
Human Gait ◽  
Mechanical Oscillator ◽  
Frequency Entrainment ◽  
Passive Walking ◽  
Periodic Input ◽  
The Stability ◽  
Human Gait Analysis

This study proposes a new control that stabilizes a three-dimensional (3D) passive walker without torque input at knees and ankles joints by using entrainment and a mechanical oscillator. It is difficult to stabilize a 3D biped passive walker in different environments because the range of initial conditions for stable walking is limited, so we designed a 3D biped passive walker as a passive walking platform by considering the results of human gait analysis to make the success of passive walking high. The stability of this platform was analytically determined by analyzing the frontal movement limit cycle. In the new control, the frontalmovement period is synchronized with the swing-leg period by a mechanical oscillator on the top of the walker. The mechanical oscillator controller generates a target path to synchronize oscillatormovement with swing-leg movement using frequency entrainment. The walker is stabilized when the frontal movement period was synchronized with the swing-leg period by periodic input generated by the mechanical oscillator. It was experimentally found consequently that the walker was stabilized on different slopes and flat floors.

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

Robotica ◽  
2014 ◽  
Vol 34 (3) ◽  
pp. 483-496 ◽  
Author(s):  
Ying Cao ◽  
Soichiro Suzuki ◽  
Yohei Hoshino
Keyword(s):  
Energy Efficiency ◽  
Mechanical Energy ◽  
Three Dimensional ◽  
Energy Utilization ◽  
Walking Robots ◽  
Utilization Rate ◽  
Walking Robot ◽  
Energy Transformation ◽  
Passive Walking ◽  
Level Walking

SUMMARYPassive 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.

Design and operation of a tripod walking robot via dynamics simulation

Robotica ◽  
2010 ◽  
Vol 29 (5) ◽  
pp. 733-743 ◽  
Author(s):  
Conghui Liang ◽  
Hao Gu ◽  
Marco Ceccarelli ◽  
Giuseppe Carbone
Keyword(s):  
Mechanical Design ◽  
Low Cost ◽  
Three Dimensional ◽  
The Body ◽  
Dynamics Simulation ◽  
Walking Ability ◽  
Walking Robot ◽  
Three Dimensional Model ◽  
Software Environment ◽  
Leg Mechanisms

SUMMARYA mechanical design and dynamics walking simulation of a novel tripod walking robot are presented in this paper. The tripod walking robot consists of three 1-degree-of-freedom (DOF) Chebyshev–Pantograph leg mechanisms with linkage architecture. A balancing mechanism is mounted on the body of the tripod walking robot to adjust its center of gravity (COG) during walking for balancing purpose. A statically stable tripod walking gait is performed by synchronizing the motions of the three leg mechanisms and the balancing mechanism. A three-dimensional model has been elaborated in SolidWorks® engineering software environment for a characterization of a feasible mechanical design. Dynamics simulation has been carried out in the MSC.ADAMS® environment with the aim to characterize and to evaluate the dynamic walking performances of the proposed design with low-cost easy-operation features. Simulation results show that the proposed tripod walking robot with proper input torques, gives limited reaction forces at the linkage joints, and a practical feasible walking ability on a flatten ground.

Sign in / Sign up

Export Citation Format

Share Document