Advertisement

Romansy 14 pp 463-470 | Cite as

Inverse Dynamics Power Saving Control of Walking Machines

  • Stefan Gruber
  • Werner Schiehlen
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)

Abstract

This work is motivated by the high power consumption of existing walking machines. The paper presents the combination of the inverse dynamics control technique with the passive walking principle for the model of an biped walking machine. For the compensation of the energy losses during walking the method of inverse dynamics control is applied which generates the walking motion according to preprogrammed nominal trajectories of legs and body. The trajectories are generated according to passive dynamic gait cycles of a passive model. The simulation results show that the power consumption for walking with this approach is very low compared to other machines.

Keywords

Contact Force Multibody System Humanoid Robot Inverse Dynamic Zero Moment Point 
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.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Ahmadi, M. and Buehler, M. (1999). The ARL Monopod II Running Robot: Control and Energetics. In IEEE International Conference on Robotics and Automation 1689–1694.Google Scholar
  2. Alexander, R. M. (1988). Elastic mechanisms in animal movement. Cambridge, England: Cambridge University Press.Google Scholar
  3. Blajer, W. and Schiehlen, W. (1992). Walking Without Impacts as a Motion/Force Control Problem. ASME Journal of Dynamic Systems, Measurement, and Control 114: 660–665.CrossRefGoogle Scholar
  4. Garcia, M., Ruina, A. and Coleman, M. (1998). Some results in passive-dynamic walking. In Proceedings of the Euromech 375–Biology and Technology of Walking. Munich, Germany, 268–275.Google Scholar
  5. 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. Google Scholar
  6. Gruber, S. and Schiehlen, W. (2001). Towards Autonomous Bipedal Walking. In Proceedings of the 4 th Int. Conference on Climbing and Walking Robots, CLAWAR 2001. Karlsruhe, Germany, 757–762.Google Scholar
  7. Honda Motor Co., Ltd. [web page] (Nov. 2001). Humanoid Robot - Specifications. URL: http://world.honda.com/robot/specifications/.
  8. McGeer, T. (1990). Passive dynamic walking. The International Journal of Robotics Research 9 (2): 62–82.CrossRefGoogle Scholar
  9. Pfister, J. and Eberhard, P. Frictional contact of flexible and rigid bodies. Granular Matter (Accepted for publication).Google Scholar
  10. Pratt, J. (2000). Exploiting Inherent Robustness and Natural Dynamics in the Control of Bipedal Walking Robots. Computer Science Department, Massachusetts Institute of Technology, Cambridge, MA.Google Scholar
  11. Raibert, M. (1986). Legged Robots That Balance. Cambridge, MA: The MIT Press.Google Scholar
  12. Schiehlen, W. (1990). Multibody Systems Handbook. Berlin: Springer.CrossRefMATHGoogle Scholar
  13. Sciavicco, L. and Siciliano, B. (1996). Modeling and Control of Robot Manipulators. The McGraw-Hill Companies, Inc.Google Scholar
  14. Vukobratovié, M., Borovac, B., Surla, D. and Stokié, D. (1990). Biped Locomotion: Dynamics, Stability, Control and Application. Scientific Fundamentals of Robotics 7. Berlin: Springer.Google Scholar

Copyright information

© Springer-Verlag Wien 2002

Authors and Affiliations

  • Stefan Gruber
    • 1
  • Werner Schiehlen
    • 1
  1. 1.Institute B of MechanicsUniversity of StuttgartGermany

Personalised recommendations