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A simple walking strategy for biped walking based on an intermittent sinusoidal oscillator

Published online by Cambridge University Press:  10 December 2009

Chenglong Fu ,
Feng Tan  and
Ken Chen
Chenglong Fu*
Affiliation:
State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, P. R. China Department of Precision Instruments and Mechanology, Beijing 100084, P. R. China
Feng Tan
Affiliation:
State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, P. R. China
Ken Chen
Affiliation:
State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, P. R. China Department of Precision Instruments and Mechanology, Beijing 100084, P. R. China
*
*Corresponding author. E-mail: fcl@tsinghua.edu.cn
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Summary

This paper presents a control algorithm for biped walking by extension of previous work in the fields of central pattern generator (CPG) and passive walking. The algorithm takes advantage of the passive dynamics of walking, assisting only when necessary with an intermittent sinusoidal oscillator. The parameterized oscillator is used to drive the hip joint; the triggering and ceasing of the oscillator during a walking cycle can be modulated by the sensory feedback. The results from simulation indicate a stable, efficient gait, and robustness against model inaccuracy and environmental variation. We also examine the effects of oscillator parameters and link parameters on the gait, and design a controller to suppress the bifurcation phenomenon based on the error of prior step periods.

Keywords

Biped walkingIntermittent oscillatorSensory feedbackBifurcation suppressing
Type
Article
Information
Robotica , Volume 28 , Issue 6 , October 2010 , pp. 869 - 884
Copyright
Copyright © Cambridge University Press 2009

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