A 3D passive dynamic biped with yaw and roll compensation

M. Wisse; A. L. Schwab; R. Q. vd. Linde

doi:10.1017/S0263574700003040

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Cited by 43
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Volume 19, Issue 3
May 2001 , pp. 275-284

A 3D passive dynamic biped with yaw and roll compensation

M. Wisse ^(a1), A. L. Schwab ^(a2) and R. Q. vd. Linde ^(a1)

- DOI: https://doi.org/10.1017/S0263574700003040
- Published online by Cambridge University Press: 25 April 2001

Abstract

Autonomous walking bipedal machines, possibly useful for rehabilitation and entertainment purposes, need a high energy efficiency, offered by the concept of ‘Passive Dynamic Walking' (exploitation of the natural dynamics of the robot). 2D passive dynamic bipeds have been shown to be inherently stable, but in the third dimension two problematic degrees of freedom are introduced: yaw and roll.

We propose a design for a 3D biped with a pelvic body as a passive dynamic compensator, which will compensate for the undesired yaw and roll motion, and allow the rest of the robot to move as if it were a 2D machine. To test our design, we perform numerical simulations on a multibody model of the robot. With limit cycle analysis we calculate the stability of the robot when walking at its natural speed.

The simulation shows that the compensator, indeed, effectively compensates for both the yaw and the roll motion, and that the walker is stable.

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2001 Cambridge University Press

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Cited by 43
Cited by
- 43
Crossref Citations

This article has been cited by the following publications. This list is generated based on data provided by CrossRef.

Coleman, Michael J. Garcia, Mariano Mombaur, Katja and Ruina, Andy 2001. Prediction of stable walking for a toy that cannot stand. Physical Review E, Vol. 64, Issue. 2,

CrossRef

Google Scholar

Duysens, J Van de Crommert, H.W.A.A Smits-Engelsman, B.C.M and Van der Helm, F.C.T 2002. A walking robot called human: lessons to be learned from neural control of locomotion. Journal of Biomechanics, Vol. 35, Issue. 4, p. 447.

CrossRef

Google Scholar

Tao Geng Xiaomeng Li and Xiaoming Xu 2002. Control and simulation of a 3D one-legged robot. p. 2499.

CrossRef

Google Scholar

Ono, Kyosuke Furuichi, Takasahi and Takahashi, Ryutaro 2004. Self-Excited Walking of a Biped Mechanism with Feet. The International Journal of Robotics Research, Vol. 23, Issue. 1, p. 55.

CrossRef

Google Scholar

Wisse, M. 2004. Three additions to passive dynamic walking; actuation, an upper body, and 3D stability. Vol. 1, Issue. , p. 113.

CrossRef

Google Scholar

Wisse, M. Schwab, A.L. van der Linde, R.Q. and van der Helm, F.C.T. 2005. How to keep from falling forward: elementary swing leg action for passive dynamic walkers. IEEE Transactions on Robotics, Vol. 21, Issue. 3, p. 393.

CrossRef

Google Scholar

Anderson, S.O. Wisse, M. Atkeson, C.G. Hodgins, J.K. Zeglin, G.J. and Moyer, B. 2005. Powered bipeds based on passive dynamic principles. p. 110.

CrossRef

Google Scholar

Wisse, M. and Schwab, A. L. 2005. Skateboards, Bicycles, and Three-dimensional Biped Walking Machines: Velocity-dependent Stability by Means of Lean-to-yaw Coupling. The International Journal of Robotics Research, Vol. 24, Issue. 6, p. 417.

CrossRef

Google Scholar

Manoonpong, Poramate Geng, Tao and Worgotter, Florentin 2006. Exploring the dynamic walking range of the biped robot "Run Bot" with an active upper-body component. p. 418.

CrossRef

Google Scholar

Rauh, Andreas Kletting, Marco Aschemann, Harald and Hofer, Eberhard P. 2006. Interval methods for simulation of dynamical systems with state-dependent switching characteristics. p. 355.

CrossRef

Google Scholar

Aoi, Shinya and Tsuchiya, Kazuo 2007. Self-stability of a simple walking model driven by a rhythmic signal. Nonlinear Dynamics, Vol. 48, Issue. 1-2, p. 1.

CrossRef

Google Scholar

Wisse, Martijn Hobbelen, Daan G. E. and Schwab, Arend L. 2007. Adding an Upper Body to Passive Dynamic Walking Robots by Means of a Bisecting Hip Mechanism. IEEE Transactions on Robotics, Vol. 23, Issue. 1, p. 112.

CrossRef

Google Scholar

Burden, Samuel Clark, Jonathan Weingarten, Joel Komsuoglu, Haldun and Koditschek, Daniel 2007. Heterogeneous Leg Stiffness and Roll in Dynamic Running. p. 4645.

CrossRef

Google Scholar

Wisse, Martijn Keliksdal, Guillaume Frankenhyyzen, Jan and Moyer, Brian 2007. Passive-Based Walking Robot. IEEE Robotics & Automation Magazine, Vol. 14, Issue. 2, p. 52.

CrossRef

Google Scholar

Tehrani Safa, Ali Saadat, Mohammad Ghaffari and Naraghi, Mahyar 2007. Passive dynamic of the simplest walking model: Replacing ramps with stairs. Mechanism and Machine Theory, Vol. 42, Issue. 10, p. 1314.

CrossRef

Google Scholar

Wei, Kunlin Dijkstra, Tjeerd M. H. and Sternad, Dagmar 2007. Passive Stability and Active Control in a Rhythmic Task. Journal of Neurophysiology, Vol. 98, Issue. 5, p. 2633.

CrossRef

Google Scholar

Xiaohua Yang Wang, Qining Guangming Xie and Wang, Long 2007. Fuzzy logic based body state estimation in a bipedal robot with passive dynamic gaits. p. 336.

CrossRef

Google Scholar

Liu, Ning Li, Junfeng and Wang, Tianshu 2008. Passive walker that can walk down steps: simulations and experiments. Acta Mechanica Sinica, Vol. 24, Issue. 5, p. 569.

CrossRef

Google Scholar

Yang, T. Westervelt, E. R. Schmiedeler, J. P. and Bockbrader, R. A. 2008. Design and control of a planar bipedal robot ERNIE with parallel knee compliance. Autonomous Robots, Vol. 25, Issue. 4, p. 317.

CrossRef

Google Scholar

Narukawa, T. Yokoyama, K. Takahashi, M. and Yoshida, K. 2008. A simple 3D straight-legged passive walker with flat feet and ankle springs. p. 2952.

CrossRef

Google Scholar

Download full list

Google Scholar Citations

View all Google Scholar citations for this article.

Scopus Citations

View all citations for this article on Scopus

Volume 19, Issue 3
May 2001 , pp. 275-284

A 3D passive dynamic biped with yaw and roll compensation

M. Wisse ^(a1), A. L. Schwab ^(a2) and R. Q. vd. Linde ^(a1)

- DOI: https://doi.org/10.1017/S0263574700003040
- Published online by Cambridge University Press: 25 April 2001

This article has been cited by the following publications. This list is generated based on data provided by CrossRef.

A 3D passive dynamic biped with yaw and roll compensation

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