Abstract
The simulation and realization of legged locomotion robots is an important research topic. A common approach to synthesize a desired walking pattern for a walking machine is to use inverse dynamics techniques. Thus, the nominal control of a walking machine is generated according to fully or partly prescribed and preprogrammed nominal trajectories of legs and body. The equations of motion are solved to obtain the required control forces and torques. These torques are relatively large so that autonomous walking, i.e. walking with energy supply on board, is only possible for a short period. Our aim is to reduce the control torques in the joints of a biped walking model and the total energy consumption of the actuators.
The paper presents the application of the passive walking principle to a biped model. A walking model with knees capable of passive dynamic walking is designed to which small actuators in the joints are added. Active control is used to maintain the passive walking motion compensating the energy losses. The simulation results show that the power consumption during walking is low compared to other machines.
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Honda Motor Co., Ltd. [web page] (Feb. 2000). Humanoid Robot - Specifications. URL: http://www.honda.co.jp/englishitechnology/robot/specl.html.
McGeer, T. (1990). Passive dynamic walking. The International Journal of Robotics Research 9 (2): 62–82.
Garcia, M., Ruina, A. and Coleman, M. (1998). Some results in passive-dynamic walking. In Proceedings of the Eummech 375–Biology and Technology of Walking. Munich, Germany, 268–275.
Raibert, M. (1986). Legged Robots That Balance. Cambridge, MA: The MIT Press.
Ahmadi, M. and Buehler, M. (1999). The ARL Monopod II Running Robot: Control and Energetics. In IEEE International Conference on Robotics and Automation,Detroit, Michigan.
Mochon, S. and McMahon, T. A. (1980). Ballistic walking: an improved model. Mathematical Biosciences 52: 241–260.
Goswami, A., Espiau, B. and Keramane, A. (1996). Limit cycles and their stability in a passive bipedal gait. In Proceedings of the IEEE Conference on Robotics and Automation.
Schiehlen, W. (1997). Multibody system dynamics: roots and perspectives. Multibody System Dynamics 1: 149–188.
Schiehlen, W. (1990). Multibody Systems Handbook. Springer-Verlag, Berlin.
Schwerin, R. v. (1999). MultiBody System SIMulation: Numerical Methods, Algorithms, and Software. Springer-Verlag, Berlin.
Gregorio, P., Ahmadi, M. and Buehler, M. (1997). Design, control, and energetics of an electrically actuated legged robot. IEEE Transactions on Systems, Man, and Cybernetics 27B (4): 626–634.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2000 Springer-Verlag Wien
About this paper
Cite this paper
Gruber, S., Schiehlen, W. (2000). Low-Energy Biped Locomotion. In: Morecki, A., Bianchi, G., Rzymkowski, C. (eds) Romansy 13. International Centre for Mechanical Sciences, vol 422. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2498-7_49
Download citation
DOI: https://doi.org/10.1007/978-3-7091-2498-7_49
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-2500-7
Online ISBN: 978-3-7091-2498-7
eBook Packages: Springer Book Archive