Share This Article:

Turn Control of a Three-Dimensional Quasi-Passive Walking Robot by Utilizing a Mechanical Oscillator

Abstract Full-Text HTML XML Download Download as PDF (Size:1708KB) PP. 93-99
DOI: 10.4236/eng.2014.62013    3,731 Downloads   4,957 Views   Citations

ABSTRACT

A turn control strategy is proposed in order to improve environmental adaptability of a quasi-passive walking robot by utilizing a mechanical oscillator. The target trajectory of the fmechanical oscillator is determined by online planning of its period, phase, amplitude and angle of the central axis of oscillation. The motion of the mechanical oscillator is always entrained with the rocking motion of the robot based on forced entrainment in order to stabilize the robot. The turn radius can be controlled by adjusting the inclination angle of the central axis of the mechanical oscillator movement, and the control method is numerically and experimentally examined. Results show that the robot can turn with different radius and it is possible for the robot to walk in various environments. Finally, the gait of turn is compared with that of straight walking and analyzed in terms of mechanical work and energy.

Conflicts of Interest

The authors declare no conflicts of interest.

Cite this paper

Cao, Y. , Suzuki, S. and Hoshino, Y. (2014) Turn Control of a Three-Dimensional Quasi-Passive Walking Robot by Utilizing a Mechanical Oscillator. Engineering, 6, 93-99. doi: 10.4236/eng.2014.62013.

References

[1] T. McGeer, “Passive Dynamic Walking,” International Journal of Robotics Research, Vol. 9, No. 2, 1990, pp. 62-82.
[2] S. H. Collins, A. Ruina, R. Tedrake and M. Wisse, “Efficient Bipedal Robots Based on Passive Dynamic Walkers,” Science Magazine, Vol. 307, 2005, pp. 1082-1085.
[3] A. Goswami, B. Espiau and A. Keramane, “Limit Cycles and Their Stability in a Passive Bipedal Gait,” Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, 1996, pp. 246-251.
[4] R. Tedrake, T. W. Zhang, M. F. Fong and H. S. Seung, “Actuating a Simple 3D Passive Dynamic Walker,” Proceedings of the IEEE on Robotics and Automation, Vol. 5, 2004, pp. 4656-4661.
[5] A. D. Kuo, “Stabilization of Lateral Motion in Passive Dynamic Walking,” International Journal of Robotics Research, Vol. 18, No. 9, 1999, pp. 917-930.
http://dx.doi.org/10.1177/02783649922066655
[6] S. Suzuki and M. Hachiya, “Experimental Study on Stabilization of a Three-Dimensional Biped Passive Walking Robot,” Journal of the Society of Biomechanisms, Vol. 32, No. 4, 2008, pp. 239-246.
http://dx.doi.org/10.3951/sobim.32.239
[7] M. Hachiya and S. Suzuki, “Stabilization of a Biped Quasi-Passive Walking Robot via Periodic Input,” Journal of the Society of Biomechanisms, Vol. 33, No. 1, 2009, pp. 57-63. http://dx.doi.org/10.3951/sobim.33.57
[8] S. Suzuki, M. Takada and Y. Iwakura, “Stability Control of a Three-Dimensional Passive Walker by Periodic Input Based on the Frequency Entrainment,” Journal of Robotics and Mechatronics, Vol. 23, No. 6, 2011, pp. 11001107.
[9] S. Suzuki, Y. Cao, M. Takada and K. Oi, “Climbing and Turning Control of a Biped Passive Walking Robot by Periodic Input Based on Frequency Entrainment,” Advanced Engineering Forum, Vol. 2, No. 3, 2011, pp. 4852.
[10] R. Smith, “Open Dynamics Engine v0.5 User Guide,” 2006. http://ode.org
[11] R. Rand, “Lecture Notes on Nonlinear Vibrations,” 2012.
http://ecommons.library.cornell.edu/handle/1813/28989

  
comments powered by Disqus

Copyright © 2019 by authors and Scientific Research Publishing Inc.

Creative Commons License

This work and the related PDF file are licensed under a Creative Commons Attribution 4.0 International License.