Actuated Dynamic Walking in a Seven-Link Biped Robot

The authors have previously described a method for enabling fully actuated biped walking without prescribing joint angle trajectories or imposing kinematic constraints between joints. This method was hypothesized to offer a more natural-looking bipedal gait and a higher locomotive efficiency relativ...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2012-02, Vol.17 (1), p.147-156
Main Authors: Braun, David J., Mitchell, Jason E., Goldfarb, Michael
Format: Article
Language:English
Subjects:
Actuated dynamic walking
Actuators
biped robot
biped walking
Dynamics
Joints
Kinematics
Knee
Legged locomotion
Locomotives
robot control and design
Robot kinematics
Robots
Tracking
Trajectories
Trajectory
Transport
Walking
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Summary:The authors have previously described a method for enabling fully actuated biped walking without prescribing joint angle trajectories or imposing kinematic constraints between joints. This method was hypothesized to offer a more natural-looking bipedal gait and a higher locomotive efficiency relative to methods requiring accurate joint trajectory tracking. In this paper, the authors present experimental evidence to support both hypotheses. Specifically, the authors describe the design of a seven- link bipedal robot appropriate for the previously proposed control method; present the implementation of the "nonkinematic" control approach on the biped robot; demonstrate (with data, photo- graphic sequences, and video) the "relaxed" style of walking resulting from the control method; and experimentally characterize the locomotive efficiency of the biped in terms of the mechanical cost of transport. The latter results are compared to corresponding measures reported elsewhere in the literature.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2010.2090891