Abstract

A passive walker is a kind of robot that consumes low energy through body dynamics. However, it is difficult to stabilize it in various environments, because it is hard to synchronize the rocking period of the robot with the swing leg period. This research developed an online period control method to solve the stability problem and realize ascending slope for a biped quasi passive walker. A mechanical oscillator is used to control the robot utilizing frequency entrainment. The Van der Pol equation and a PI controller were utilized to determine the target path of the mechanical oscillator. Finally, the validity of the proposed methods was analytically examined by numerical simulation ODE (Open Dynamics Engine).

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.