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Efficient dynamic bipedal walking using effects of semicircular feet

Published online by Cambridge University Press:  07 May 2010

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

Achieving energy-efficient and high-speed dynamic walking has become one of the main subjects of research in the area of robotic biped locomotion, and passive dynamic walking has attracted a great deal of attention as a solution to this. It is empirically known that the convex curve of the foot, which characterizes passive–dynamic walkers, has an important effect on increasing the walking speed.

This paper mainly discusses our investigations into the driving mechanism for compass-like biped robots and the rolling effect of semicircular feet. We first analyze the mechanism for a planar fully actuated compass-like biped model to clarify the importance of ankle-joint torque by introducing a generalized virtual-gravity concept. A planar underactuated biped model with semicircular feet is then introduced and we demonstrate that virtual passive dynamic walking only by hip-joint torque can be accomplished based on the rolling effect. We then compare the rolling effect with a flat feet model through linear approximation, and show that the rolling effect is equivalent to virtual ankle-joint torque. Throughout this paper, we provide novel insights into how zero-moment-point-free robots can generate a dynamic bipedal gait.

Keywords

Dynamic bipedal walkingSemicircular feetGait generationEfficiencyMechanical energy
Type
Article
Information
Robotica , Volume 29 , Issue 3 , May 2011 , pp. 351 - 365
Copyright
Copyright © Cambridge University Press 2010

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