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Asymptotically stable biped gait generation based on stability principle of rimless wheel

Published online by Cambridge University Press:  06 March 2009

Fumihiko Asano  and
Zhi-Wei Luo
Fumihiko Asano*
Affiliation:
School of Information Science, Japan Advanced Institute of Science and Technology, 1-1 Asahidai, Nomi, Ishikawa 923-1292, JAPAN
Zhi-Wei Luo
Affiliation:
Department of Computer Science and Systems Engineering, Faculty of Engineering, Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, JAPAN.
*
*Corresponding author. E-mail: fasano@jaist.ac.jp
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Summary

We investigated and identified the conditions necessary for stable dynamic gait generation in biped robots from the mechanical energy balance point of view. The equilibrium point at impact in a dynamic gait is uniquely determined by two conditions; keeping the restored mechanical energy constant and settling the relative hip-joint angle to the desired value before impact. The generated gait then becomes asymptotically stable around the equilibrium point determined by these conditions. This is shown by a simple recurrence formula of the kinetic energy immediately before impact. We verified this stability theorem using numerical simulation of virtual passive dynamic walking. The results were compared with those for a rimless wheel and an inherent stability principle was derived. Finally, we derived a robust control law using a reference mechanical energy trajectory and demonstrated its effectiveness numerically.

Keywords

Gait generationBiped robotAsymptotic stabilityMechanical energy balanceVirtual passive dynamic walking
Type
Article
Information
Robotica , Volume 27 , Issue 6 , October 2009 , pp. 949 - 958
Copyright
Copyright © Cambridge University Press 2009

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