Parametrically Excited Dynamic Bipedal Walking

Abstract

Human biped locomotion is an ultimate style of biological movement that is a highly evolved function. Biped locomotion by robots is a dream to be attained by the most highly evolved or integrated technology, and research on this has a history of over 30 years. Many methods of generating gaits have been proposed. There has been a tendency to reduce the complicated dynamics of a walking robot to a simple inverted pendulum (Hemami et al., 1973), and to control its motion according to pre-designed time-dependent trajectories while guaranteeing zero moment point (ZMP) conditions (Vukobratovi & Stepanenko, 1972). Although such approaches have successfully been applied to practical applications and nowadays successful biped-himanoids are developed by them, problems on gait performances still remain. Several advanced approaches on the other hand have taken the robot's dynamics into account for generating gaits based on natural dynamics. Miura and Shimoyama studied dynamic bipedal walking without ankle-joint actuation (Miura & Shimoyama, 1984) and they developed robots on stilts whose foot contact occurred at a point. Sano and Furusho accomplished natural dynamic biped walking based on angular momentum using ankle-joint actuation (Sano & Furusho, 1990). Kajita proposed a method of control based on a linear inverted pendulum model with a potential-energy-conserving orbit (Kajita et al., 1992). These approaches utilized the robot’s own dynamics effectively but did not investigate the energy-efficiency by introducing performance indices. It was unclear whether or not efficient gaits were generated. McGeer's passive dynamic walking (PDW) (McGeer, 1990) has provided clues to solve these problems. Passive-dynamic walkers can walk without any actuation on a gentle slope, and they provide an optimal solution to the problem of generating a natural and energy-efficient gait. The objective most expected to be met by PDW is to attain natural, high-speed energyefficient dynamic bipedal walking on level ground like humans do. However, we need to supply power-input to the robot by driving its joint-actuators to continue stable walking on level ground, and certain methods of supplying power must be introduced. Ankle-joint torque is mathematically very important for effectively propelling the robot's center of mass (CoM) in the walking direction, and it is thus required relatively more often than other joint torques. However, to exert ankle-joint torque on a passive-dynamic walker, we need to add feet and this creates the ZMP constraint problem. We clarified that there is a trade-off between optimal gait and ZMP conditions through parametric studies, and O pe n A cc es s D at ab as e w w w .ite ch on lin e. co m