Hostname: page-component-7dd5485656-kp629 Total loading time: 0 Render date: 2025-10-31T18:57:39.330Z Has data issue: false hasContentIssue false
  • English
  • Français

Design of a robust dynamic gait of the biped using the concept of dynamic stability margin

Published online by Cambridge University Press:  09 March 2009

Young-Jin Seo  and
Yong-San Yoon
Young-Jin Seo
Affiliation:
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Kusong-dong, Yusung-Gu, Taejon, 305-701 (Korea)
Yong-San Yoon
Affiliation:
Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Kusong-dong, Yusung-Gu, Taejon, 305-701 (Korea)
Get access Rights & Permissions [Opens in a new window]

Summary

A computational technique for designing a physically realizable robust dynamic gait for a planar biped robot is developed. Firstly, a feasible set of gaits was constructed to satisfy the periodicity of the biped locomotion. Then the concept of dynamic, stability margin is introduced based on the robustness of a gait with respect to the external disturbances. Using that margin, we can assess the robustness of each dynamic gait in the feasible set. It is found that the parameter, called foot strike time margin, representing the readiness of the foot strike has a close positive correlation with the dynamic stability margin. We obtain a robust gait with respect to the external disturbance by maximizing the foot strike time margin. The robustness of the optimal gait is confirmed by the behavior of the gait after application of linear impulse as well as by the examination of the largest eigenvalue at the perturbed state.

Keywords

Biped robotStable gaitTrajectory generationDynamic stability margin.

Information

Type
Articles
Information
Robotica , Volume 13 , Issue 5 , September 1995 , pp. 461 - 468
Copyright
Copyright © Cambridge University Press 1995

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1.Song, S.M. and Waldron, K.J., Machines That Walk: The Adaptive Suspension Vehicle (MIT Press, Cambridge, Massachusetts, 1989).Google Scholar
2.Sias, F.R. Jr, and Zheng, Y.F., “How many degrees-of-freedom does a biped need?” Proc. IEEE Int. Workshop on Intelligent Robots and Systems 1 (1990) pp. 297–302.Google Scholar
3.Miyazaki, F. and Arimoto, S., “A Control Theoretic Study on Dynamical Biped Locomotion” ASME J. Dynamic Systems, Measurement, and Control 102, 233–239 (1980).Google Scholar
4.Miura, H. and Shimoyama, I., “Dynamic walk of a biped” Int. J. Robotics Research 3, No. 2, 60–74 (Summer, 1984).Google Scholar
5.Katoh, R. and Mori, M., “Control method of biped locomotion giving asymptotic stability of trajectory” Automatica 20, No. 4, 405–414 (1984).CrossRefGoogle Scholar
6.Kawamura, S., Kawamura, T., Fujino, D., Miyazaki, F. and Arimoto, S., “Realization of Biped Locomotion by Motion Pattern Learning” J. Robotics Soc. Japan 3, No. 3, 177–187 (1985).Google Scholar
7.Furusho, J. and Masubuchi, M., “Control of a dynamical biped locomotion system for steady walking” ASME J. Dynamic Systems, Measurement, and Control 108, 111–118 (1986).Google Scholar
8.Furusho, J. and Sano, A., “Sensor-Based Control of a Nine-Link Biped” Int. J. Robotics Research 9, No. 2, 83–98 (04, 1990).CrossRefGoogle Scholar
9.Li, Q., Takanishi, A. and Kato, I., “Learning control for a biped walking robot with a trunk” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (1993) pp. 1771–1777.Google Scholar
10.McGeer, T., “Passive Dynamic Walking” Int. J. Robotics Research 9, No. 2, 62–82 (04, 1990).CrossRefGoogle Scholar
11.Lin, B.S. and Song, S.M., “Dynamic Modelling, Stability and Energy Efficiency of a Quadrupedal Walking Machine” Proc. IEEE Int. Conf. on Robotics and Automation 3 (1993) pp. 367–373.Google Scholar
12.Nanua, P. and Waldron, K.J., “Instability and Chaos in Quadruped Gallop” Proc. Robotics, Spatial Mechanisms, and Mechanical Systems ASME 45, (1992) pp. 599–607.Google Scholar
13.Vukobratović, M. and Stepanenko, J., “Mathematical Models of General Anthropomorphic Systems” Mathematical Biosciences 17, 191–242 (1973).Google Scholar
14.Lee, T.T. and Liao, J.H., “Trajectory Planning and Control of a 3-Link Biped Robot” Proc. IEEE Int. Conf. on Robotics and Automation 2 (1988) pp. 820–823.Google Scholar
15.Shih, C.L., Li, Y.Z., Churng, S., Lee, T.T. and Graver, W.A., “Trajectory Synthesis and Physical Admissibility for a Biped Robot During the Single-Support Phase” Proc. IEEE Int. Conf. on Robotics and Automation 3 (1990) pp. 1646–1652.Google Scholar
16.Kawaji, S. and Sawada, K., “Dynamical Walk of Biped Locomotion Robot with Characteristic Rhythm” Proc. JAPAN/USA Symposium on Flexible Automation ASME 1 (1992) pp. 745–752.Google Scholar
17.Channon, P.H., Hopkins, S.H. and Pham, D.T., “Derivation of optimal walking motions for a bipedal walking robot” Robotica 10, Part 2, 165–172 (1992).Google Scholar