On Internal Stabilizing Mechanism of Passive Dynamic Walking

Hirata, Kentaro

doi:10.9746/jcmsi.4.29

Cited by 9 publications

(6 citation statements)

References 27 publications

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“…These results suggest that the adaptive behavior, which is caused by the change in the internal parameters of the legged robot, appears actually in the experimental environment. In addition, referring the numerical simulations in conventional studies, transitions among the simulative conditions caused by the adaptive behavior are reversible [5,6]. Thus, even in the experimental conditions, it can be expected that the transitions of the adaptive behavior are also reversible.…”

Section: Verification Of Adaptive Behaviormentioning

confidence: 95%

“…It is well known that passive dynamic walking shows characteristic behaviors owing to changes in the internal or external environment [1][2][3][4][5][6][7]. In addition, passive dynamic walking shows "adaptive behaviors" in which a passive dynamic walking robot adjusts its gait to keep walking in a continuously changing walking environment during walking.…”

Section: Introductionmentioning

confidence: 99%

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Experimental verification of the characteristic behaviors in passive dynamic walking

Iribe

Hirouji

Ura

et al. 2021

Artif Life Robotics

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It is well known that passive dynamic walking shows chaotic behavior owing to changes in the environment. In addition, when the environment changes continuously during walking, passive dynamic walking shows “adaptive behaviors” in which the stride angle changes itself in an attempt to keep walking. These behaviors are very interesting and useful for the legged robot design. However, the studies on passive dynamic walking are preceded only by numerical simulations. For this reason, it is very important to confirm, by actual experiments, whether these characteristic behaviors appear. In this paper, we verify the existence of these behaviors by several actual experiments.

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Section: Verification Of Adaptive Behaviormentioning

confidence: 95%

Section: Introductionmentioning

confidence: 99%

Experimental verification of the characteristic behaviors in passive dynamic walking

Iribe

Hirouji

Ura

et al. 2021

Artif Life Robotics

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show abstract

“…By using this analytical Poincaré map, Sugimoto and Osuka [23] showed that the implicit feedback structure contributes to its stability. Recently, by further developing the concept proposed by Sugimoto et al, Hirata [28] clearly showed that the implicit feedback structure in PDW can be characterized as cheap optimal control. Moreover, Owaki et al [29] constructed an actual passive dynamic bipedal running device and performed running experiments; the device achieved a running performance of as many as 36 steps in the real world.…”

Section: Previous Related Studiesmentioning

confidence: 98%

Stabilization mechanism underlying passive dynamic running

2013

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In this study, we discuss the stabilization mechanism underlying passive dynamic running (PDR), focusing on the feedback structure in an analytical Poincaré map. To this end, we derived a linearized analytical Poincaré map for PDR and analyzed its stability in terms of linear control theory. Through our theoretical analysis, we found that an 'implicit two-delay feedback structure,' which can be seen as a certain type of two-delay input digital feedback control developed as an artificial control structure for digital control, is an inherent stabilization mechanism in PDR appearing from a minimalistic biped model with elastic elements. To the best of our knowledge, this has yet to be addressed and studied. Our results shed new light on the principles underlying bipedal locomotion as 'morphological computation.'

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“…While the lower energy-consumption makes these passive walkers sensitive to mechanical parameter variation and external disturbances, any tiny modification of parameters could lead to an obvious change on the gait [9]- [10]. [11] and [12]- [13] do the research on the influence of each parameter to single-periodic stable walking gait of the straight compass gait model. Passive-dynamic walkers can exhibit period doubling and apparently chaotic gaits.…”

Section: Introductionmentioning

confidence: 99%

The analysis on period doubling gait and chaotic gait of the compass-gait biped model

Zhao¹,

Wu²,

Zang³

et al. 2011

2011 IEEE International Conference on Robotics and Automation

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The passive dynamic walking model, which can only depend on the gravity and its own inertia, presents stable, high-efficient, natural periodic gait on a slight slope. The stable periodic gait of the robot has a delicate balance of energy conversion, which makes the gait adjust itself as the parameters of the model change. In our work, the cell mapping method is combined with Newton-Raphson iteration to obtain the limit cycle of the periodic gait in the model, the track stability of the limit cycle is analyzed, and the eigenvalues change rule of Poincaré Jacobi matrix is deduced. The influence of changing parameters on the gait is analyzed and discussed by simulations on the model with different sets of parameters. The result suggests that, the location of the center of leg mass too high or too low, foot radius increase or decrease, the slope or moment of inertia increase, will lead to the occurrence of bifurcation of the gait period and chaos; while the way the gait enters chaos from period doubling bifurcation, which results from different parameters change, obeys the law all the period doubling bifurcation share, that is, it has the same Feigenbaum constant. Furthermore, the dynamic features of the robot at the entrance of the chaos are obtained by the rule of the period doubling bifurcation of the gait; meanwhile, it can be found by the analysis of the gait features in the chaos area that there is also certain periodic law in the chaotic gait.

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On Internal Stabilizing Mechanism of Passive Dynamic Walking

Cited by 9 publications

References 27 publications

Experimental verification of the characteristic behaviors in passive dynamic walking

Experimental verification of the characteristic behaviors in passive dynamic walking

Stabilization mechanism underlying passive dynamic running

The analysis on period doubling gait and chaotic gait of the compass-gait biped model

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