Stabilizing and Direction Control of Efficient 3-D Biped Walking Based on PDAC

This paper proposes a 3-D biped dynamic walking algorithm based on passive dynamic autonomous control (PDAC). The robot dynamics is modeled as an autonomous system of a 3-D inverted pendulum by applying the PDAC concept that is based on the assumption of point contact of the robot foot and the virtu...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2009-12, Vol.14 (6), p.712-718
Main Authors: Aoyama, T., Hasegawa, Y., Sekiyama, K., Fukuda, T.
Format: Article
Language:English
Subjects:
Algorithms
Autonomous
Biped walking
Constants
Control systems
Convergence
Convergence of numerical methods
Dynamical systems
Dynamics
Energy efficiency
Foot
Heuristic algorithms
Legged locomotion
legged robots
Numerical simulation
Robot kinematics
Robots
Torso
underactuate
Velocity control
Walking
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Summary:This paper proposes a 3-D biped dynamic walking algorithm based on passive dynamic autonomous control (PDAC). The robot dynamics is modeled as an autonomous system of a 3-D inverted pendulum by applying the PDAC concept that is based on the assumption of point contact of the robot foot and the virtual constraint as to robot joints. Due to autonomy, there are two conservative quantities named ldquoPDAC constant,rdquo which determine the velocity and direction of the biped walking. We also propose the convergence algorithm to make PDAC constants converge to arbitrary values, so that walking velocity and direction are controllable. Finally, experimental results validate the performance and the energy efficiency of the proposed algorithm.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2009.2032777