Learning energy efficient walking based on ballistics

This paper presents a method to realize energy efficient walking of a biped robot with a layered controller. The lower layer controller is a state machine which consists of four states: (1) constant torque is applied to hip and knee joints of the swing leg. (2) no torque is applied so that the swing leg can move in a ballistic manner. (3) a PD controller is used so that the desired posture can be realized at the heel contact, which enables a biped robot to walk stably. (4) as the support leg, hip and knee joints are servo-controlled to go back and the torque to support upper leg is applied. With this lower layer controller, parameters that enable robot to walk as energy efficiently as human walking can be explored by the upper layer controller without caring to avoid falling down.

[1]  T. McMahon,et al.  Ballistic walking. , 1980, Journal of biomechanics.

[2]  Jerry E. Pratt,et al.  Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots , 2000 .

[3]  Marjorie H. Woollacott,et al.  Motor Control: Theory and Practical Applications , 1995 .

[4]  Masaki Ogino,et al.  Acquiring Passive Dynamic Walking Based on Ballistic Walking , 2002 .

[5]  Atushi Imadu,et al.  Self-excitation control for biped walking mechanism , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[6]  D. Winter.  Kinematic and kinetic patterns in human gait: Variability and compensating effects , 1984 .

[7]  Tad McGeer,et al.  Passive walking with knees , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[8]  Gentaro Taga,et al.  A model of the neuro-musculo-skeletal system for human locomotion , 1995, Biological Cybernetics.

[9]  Bernard Espiau,et al.  A Study of the Passive Gait of a Compass-Like Biped Robot , 1998, Int. J. Robotics Res..

[10]  M. Coleman,et al.  The simplest walking model: stability, complexity, and scaling. , 1998, Journal of biomechanical engineering.

[11]  Katsuhisa Furuta,et al.  Virtual passive dynamic walking and energy-based control laws , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[12]  Koichi Osuka,et al.  Development and control of new legged robot QUARTET III - from active walking to passive walking , 2000, Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113).

[13]  Nobutoshi Yamazaki,et al.  Generation of human bipedal locomotion by a bio-mimetic neuro-musculo-skeletal model , 2001, Biological Cybernetics.