Abstract
The biped dynamic walker considered in this paper has three actuators - two at the ankle joints and one at the hip joint. We consider the case of one of the two ankle actuators at fault. Despite having only two actuators operational, we show that successful gait is possible for a typical case of virtual passive dynamic walking. We analyze such gaits for local and global stability for a virtual slope and for the cases of completely unpowered or partially powered alternate steps. It is shown that completely unpowered alternate steps are preferred over partially powered alternate steps in the case of virtual passive dynamic walking for global stability, and the other way for local stability.
Highlights
Biped walking imitates human locomotion mechanism through alternate stance and swing phases of the robot’s legs
Later Goswami et al [2] introduced the widely used compass gait model for passive dynamic walkers and gave the concept of limit cycle walking in terms of symmetry and chaos
Asano et al [3] proposed the concept of active level walking of a compass gait model based on virtual gravity concept
Summary
Biped walking imitates human locomotion mechanism through alternate stance and swing phases of the robot’s legs. Later Goswami et al [2] introduced the widely used compass gait model for passive dynamic walkers and gave the concept of limit cycle walking in terms of symmetry and chaos. He proposed the control law based on energy, which is used in the application of active walking on level grounds. The fault is assumed to make the joint free with zero torque or resistance applied by the faulty actuator This situation is modeled as one step of the gait cycle fully powered and another step, where the leg with the faulty ankle actuator is in stance phase, partially powered by the hip actuator alone
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