Hostname: page-component-586b7cd67f-rcrh6 Total loading time: 0 Render date: 2024-11-22T03:31:27.906Z Has data issue: false hasContentIssue false
  • English
  • Français

The simplest passive dynamic walking model with toed feet: a parametric study

Published online by Cambridge University Press:  11 September 2008

R. Prasanth Kumar ,
Jungwon Yoon ,
Christiand  and
Gabsoon Kim
R. Prasanth Kumar
Affiliation:
Intelligent Robots and Systems Lab, School of Mechanical and Aerospace Engineering and ReCAPT, Gyeongsang National University, Jinju, South Korea.
Jungwon Yoon*
Affiliation:
Intelligent Robots and Systems Lab, School of Mechanical and Aerospace Engineering and ReCAPT, Gyeongsang National University, Jinju, South Korea.
Christiand
Affiliation:
Intelligent Robots and Systems Lab, School of Mechanical and Aerospace Engineering and ReCAPT, Gyeongsang National University, Jinju, South Korea.
Gabsoon Kim
Affiliation:
Department of Control Instrumentation Engineering, Gyeongsang National University, Jinju, South Korea.
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents a passive dynamic walking model with toed feet that can walk down a gentle slope under the action of gravity alone. The model is the simplest of its kind with a point mass at the hip and two rigid legs each hinged at the hip on the one end and equipped with toed foot on the other end. We investigate two cases of the model, one with massless legs and another with infinitesimal leg masses. Rotation of the stance foot about the toe joint is initiated by ankle-strike, which is caused by the inelastic collision of the stance leg with a stop mounted on the stance foot. Numerical simulations of walking show that larger step lengths, higher speeds, stability, and energy efficiency can be achieved than what is achievable by a point-feet walker of same hip mass and leg lengths. Period-two gait of a point-feet walker is compared with period-one gait of the toed-feet walker and the mechanism responsible for achieving longer step lengths is described. It is shown that the advantage of the proposed walker comes from its relation to arc-feet walker. The characteristics of deterministic gait with infinitesimal leg masses is compared with that of nondeterministic gait with zero leg masses. It is shown that deterministic gait does not give maximum speed and efficiency compared to nondeterministic gait with swing leg control. Finally, active dynamic walking of the proposed walker is discussed.

Keywords

Passive dynamic walkingBipedToed feet
Type
Article
Information
Robotica , Volume 27 , Issue 5 , September 2009 , pp. 701 - 713
Copyright
Copyright © Cambridge University Press 2008

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. McGeer, T., “Passive dynamic walking,” Int. J. Robot. Res. 9, 62–82 (Apr. 1990).CrossRefGoogle Scholar
2. Goswami, A., Espiau, B. and Keramane, A., “Limit Cycles and Their Stability in a Passive Bipedal Gait,” Proceedings of the IEEE International Conference on Robotics and Automation, IEEE, Minneapolis, MN, USA (1996) pp. 246–251.CrossRefGoogle Scholar
3. Goswami, A., Espiau, B. and Keramane, A., “Limit cycles in a passive compass gait biped and passivity-mimicking control laws,” Autonom. Rob. 4, 273–286 (1997).CrossRefGoogle Scholar
4. Garcia, M., Chatterjee, A., Ruina, A. and Coleman, M. J., “The simplest walking model: Stability, complexity, and scaling,” ASME J. Biomech. Engg. 120, 281–288 (Apr. 1998).CrossRefGoogle ScholarPubMed
5. Kuo, A. D., “Energetics of actively powered locomotion using the simplest walking model,” ASME J. Biomech. Engg. 124, 113–120 (Feb. 2002).CrossRefGoogle ScholarPubMed
6. Wisse, M., Hobbelen, D. G. E., Rotteveel, R. J. J., Anderson, S. O. and Zeglin, G. J., “Ankle Springs Instead of Arc-Shaped Feet for Passive Dynamic Walkers,” Proceedings of IEEE-RAS International Conference on Humanoid Robots, Genua, Italy (Dec. 2006) pp. 110–116.Google Scholar
7. Asano, F., Yamakita, M., Kamamichi, N. and Luo, Z.-W., “A novel gait generation for biped walking robots based on mechanical energy constraint,” IEEE Trans. Rob. Automat. 20, 565–573 (2004).CrossRefGoogle Scholar
8. Asano, F. and Luo, Z.-W., “The Effect of Semicircular Feet on Energy Dissipation by Heel-strike in Dynamic Biped Locomotion,” Proceedings of IEEE International Conference on Robotics and Automation, Roma, Italy (Apr. 2007) pp. 3976–3981.CrossRefGoogle Scholar
9. Asano, F. and Luo, Z.-W., “Dynamic analyses of underactuated virtual passive dynamic walking,” Proceedings of IEEE International Conference on Robotics and Automation, Roma, Italy (Apr. 2007) pp. 3210–3217.Google Scholar
10. Wisse, M., Schwab, A. L. and van der Helm, F. C. T., “Passive dynamic walking model with upper body,” Robotica 22, 681–688 (2004).CrossRefGoogle Scholar
11. Takao, S., Ohta, H., Yokokohji, Y. and Yoshikawa, T., “Functional Analysis of Human-Like Mechanical Foot, Using Mechanically Constrained Shoes,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan (2004) pp. 3847–3852.Google Scholar
12. Yoon, J.-W., Handharu, N. and Kim, G. S., “A Bio-Robotic Toe, Foot and Heel Models of a Biped Robot for more Natural Walking,” Proceedings of the IASTED International Conference on Modeling, Identification and Control 2007, Innsbruck, Austria (Feb. 2007).Google Scholar
13. Nishiwaki, K., Kagami, S., Kuniyoshi, Y., Inaba, M. and Inoue, H., “Toe Joints that Enhance Bipedal and Full-body Motion of Humanoid Robots,” Proceedings of the IEEE International Conference Robotics and Automation, Washington, DC, USA (May 2002) pp. 3105–3110.Google Scholar
14. Sellaouti, R., Stasse, O., Kajita, S., Yokoi, K. and Kheddar, A., “Faster and Smoother Walking of Humanoid HRP-2 with Passive Toe Joints,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China (Oct. 2006).Google Scholar
15. Behnke, S., “Human-Like Walking using Toes Joint and Straight Stance Leg,” Proceedings of 3rd International Symposium on Adaptive Motion in Animals and Machines, Ilmenau, Germany (Sep. 2005) pp. 1–6.Google Scholar
16. Wisse, M., Atkeson, C. G. and Kloimwieder, D. K., “Swing Leg Retraction Helps Biped Walking Stability,” Proceedings of the IEEE-RAS International Conference on Humanoid Robots, Tsukuba, Japan (Dec. 2005) pp. 295–300.Google Scholar
17. Wisse, M., Schwab, A. L., van der Linde, R. Q. and van der Helm, F. C. T., “How to keep from falling forward: Elementary swing leg action for passive dynamic walkers,” IEEE Trans. Rob. 21, 393–401 (2005).CrossRefGoogle Scholar
18. Coleman, M. J., Chatterjee, A. and Ruina, A., “Motions of a rimless spoked wheel: A simple 3D system with impacts,” Dyn. Stab. Syst. 12, 139–160 (1997).Google Scholar
19. Kuo, A. D., “Choosing Your Steps Carefully: Trade-Offs Between Economy and Versatility in Dynamic Walking Bipedal Robots,” IEEE Rob. Automat. Mag. 14 (2), 18–29 (2007).Google Scholar
20. Donelan, J. M., Kram, R. and Kuo, A. D., “Mechanical work for step-to-step transitions is a major determinant of the metabolic cost of human walking,” J. Exp. Biol. 205, 3717–3727 (2002).Google Scholar
21. Pratt, J. E. and Pratt, G. A., “Exploiting Natural Dynamics in the Control of a 3D Bipedal Walking Simulation,” Proceedings of the International Conference on Climbing and Walking Robots, Portsmouth, UK (Sep. 1999).Google Scholar