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A simple bipedal robot model demonstrating speed-dependent gait transition

Published online by Cambridge University Press:  27 January 2025

Hirofumi Shin Open the ORCID record for Hirofumi Shin [Opens in a new window]  and
Shuhei Ikemoto
Hirofumi Shin*
Affiliation:
Frontier Robotics, Honda R&D Co. Ltd., Wako-shi, Saitama, Japan
Shuhei Ikemoto
Affiliation:
Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology, Fukuoka, Japan Research Center for Neuromorphic AI Hardware, Kyushu Institute of Technology, Fukuoka, Japan
*
Corresponding author: Hirofumi Shin; Email: hirofumi.shin@ieee.org
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Abstract

This paper introduces a novel bipedal robot model designed for adaptive transition between walking and running gaits solely through changes in locomotion speed. The bipedal robot model comprises two sub-components: a mechanical model for the legs that accommodates both walking and running and a continuous state model that does not explicitly switch states. The mechanical model employs a structure combining a linear cylinder with springs, dampers, and stoppers, designed to have mechanistic properties of both the inverted pendulum model used for walking and the spring-loaded inverted pendulum model used for running. The state model utilizes a virtual leg representation to abstractly describe the actual support leg, capable of commonly representing both a double support leg in walking and a single support leg in running. These models enable a simple gait controller to determine the kick force and the foot touchdown point based solely on the parameter of the target speed, thus allowing a robot to walk and run stably. Hence, simulation validation demonstrates the adaptive robot transition to an energy-efficient gait depending on locomotion speed without explicit gait-type instructions and maintaining stable locomotion across a wide range of speeds.

Keywords

biomimetic robotsbipedshuman biomechanicsrobot dynamicslegged robots
Type
Research Article
Information
Robotica , First View , pp. 1 - 19
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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