Bipedal Walking Based on Body Dynamics Using Phase Oscillator: Robustness against gentle Ascent

Abstract

This study aims at realizing a 3-D dynamic bipedal walking using two oscillators of a CPG approach based on its body dynamics. We have developed a 3-D biped that comprises flat feet with force sensors, ankle joints composed of ball joints surrounded by coil springs, telescopic knees, and active hip joints using a direct drive (DD) motor. We introduced the Owaki-Ishiguro method called ‘TEGOTAE based approach’ as ground contact information in the phase oscillator to the knee joint, and we achieved 3-D dynamic bipedal gait using RW06 only by the knee oscillation based on the phase oscillator. The bipedal walking was excited only by the knee oscillation, therefore, the gait was strongly affected by the body dynamics. This means that the gait might be affected strongly by disturbances, because passive dynamic walking, which achieved only by the body dynamics and interaction to environment, is not robust against such disturbances. In this study, therefore, we conduct some experimental tests to elucidate adaptability against ground variations.