Simulation verification for the robustness of passive compass gait with a joint stiffness adjustment

ABSTRACT A passive walking robot can achieve a smooth gait without any sensory feedback while walking down a slope. This phenomenon is based on the transformation of potential energy into kinetic energy in the legs. Although the entrainment is observed in a passive gait motion, there is a possibility that the passive gait cannot be achieved in the case of variations in physical parameters, initial conditions, and disturbances. To realize a robust passive gait against variations in physical parameters, this paper proposes a passive gait system that possesses a joint stiffness adjustment. Targeting a compass model, this paper investigates the effectiveness of the proposed method for a passive gait against variations in slope angle and hip joint mass through simulation. As a result, the simulation results show that this method especially has strong robustness against the slope angle variation. GRAPHICAL ABSTRACT

[1]  Koichi Osuka,et al.  Stabilization of quasi-passive-dynamic-walking based on delayed feedback control , 2002, 7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002..

[2]  Tad McGeer,et al.  Passive Dynamic Walking , 1990, Int. J. Robotics Res..

[3]  Sadao Kawamura,et al.  Generation of energy saving motion for biped walking robot through resonance-based control method , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  Masaki Ogino,et al.  Yet another humanoid walking - passive dynamic walking with torso under simple control , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[5]  Sadao Kawamura,et al.  Power Assist Systems based on Resonance of Passive Elements , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[6]  Koichi Osuka,et al.  Hierarchical implicit feedback structure in passive dynamic walking , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[7]  Hiroaki Kobayashi,et al.  A new impedance control concept for elastic joint robots , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[8]  Koichi Osuka,et al.  Walking Control of Quasi Passive Dynamic Walking Robot "Quartet III" based on Continuous Delayed Feedback Control , 2004, 2004 IEEE International Conference on Robotics and Biomimetics.

[9]  Russ Tedrake,et al.  Efficient Bipedal Robots Based on Passive-Dynamic Walkers , 2005, Science.

[10]  Benoit Thuilot,et al.  Compass-Like Biped Robot Part I : Stability and Bifurcation of Passive Gaits , 1996 .

[11]  Sadao Kawamura,et al.  A stiffness adjustment mechanism maximally utilizing elastic energy of a linear spring for a robot joint , 2015, Adv. Robotics.

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

[13]  Sadao Kawamura,et al.  Power assist system for sinusoidal motion by passive element and impedance control , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[14]  Akihito Sano,et al.  Dynamic effects of arc feet on the leg motion of passive walker , 2009, 2009 IEEE International Conference on Robotics and Automation.

[15]  Nicholas Stergiou,et al.  Hip actuations can be used to control bifurcations and chaos in a passive dynamic walking model. , 2007, Journal of biomechanical engineering.

[16]  E. Westervelt,et al.  Feedback Control of Dynamic Bipedal Robot Locomotion , 2007 .

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

[18]  Kentaro Hirata,et al.  Stability analysis of linear systems with state jump - motivated by periodic motion control of passive walker , 2003, Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003..

[19]  T. McGeer,et al.  Principles of Walking and Running , 1992 .

[20]  M. Coleman,et al.  Motions of a Rimless Spoked Wheel: a Simple 3D System with Impacts , 1997 .

[21]  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).

[22]  Koichi Osuka,et al.  Motion analysis and experiments of passive walking robot QUARTET II , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[23]  Fumihiko Asano.  Stability analysis of passive compass gait using linearized model , 2011, 2011 IEEE International Conference on Robotics and Automation.

[24]  Koichi Osuka,et al.  Motion Analysis and Experiment of Passive Walking Robot Quartet II , 2000 .

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

[26]  Tetsuya Kinugasa,et al.  Passive walking of biped emu with attitude control of body , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[27]  M. Vukobratovic,et al.  On the stability of anthropomorphic systems , 1972 .

[28]  Johannes Schumacher,et al.  An Introduction to Hybrid Dynamical Systems, Springer Lecture Notes in Control and Information Sciences 251 , 1999 .

[29]  H. Fujimoto,et al.  Stabilization of Passive Walking Based on a Stability Mechanism of Fixed Point , 2006, 2006 IEEE International Symposium on MicroNanoMechanical and Human Science.

[30]  Sadao Kawamura,et al.  Motion Control With Stiffness Adaptation for Torque Minimization in Multijoint Robots , 2014, IEEE Transactions on Robotics.

[31]  Kestutis Pyragas.  Continuous control of chaos by self-controlling feedback , 1992 .

[32]  Bernard Espiau,et al.  Limit Cycles in a Passive Compass Gait Biped and Passivity-Mimicking Control Laws , 1997, Auton. Robots.

[33]  Kazuhisa Mitobe,et al.  Control of walking robots based on manipulation of the zero moment point , 2000, Robotica.