Towards Passive Turning in Biped Walkers

Sabaapour, Mohammad Reza; Yazdi, Mohammad Reza Hairi; Beigzadeh, Borhan

doi:10.1016/j.protcy.2013.12.461

Cited by 3 publications

(4 citation statements)

References 14 publications

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“…The latter behavior which acts as a transfer between 2D fixed points is called limited passive turning. Several simulations have been carried out for the assessment of this issue in the [20]. The results also imply a natural dependency between the value of the limited passive turning and the value of perturbation in initial states, especially in the initial lean angle.…”

Section: Limit Cyclic or Periodic Passive Motionsmentioning

confidence: 93%

“…During this phase, the system is assumed to pivot about the support point and does not slip. Using angular momentum balance, the equations of motions of this stage can be obtained [20] as…”

Section: Single Support Phasementioning

confidence: 99%

“…Consequently, it was shown in the [20] that there will be two types of rimless wheel walking on a straight slope surface. First, if the wheel is restricted to a vertical plane Advanced Robotics 377 and released at a perturbed initial condition from its related 2D fixed point, it will finally become asymptotically stable about that plane (3D straight walking, no turning action).…”

Section: Limit Cyclic or Periodic Passive Motionsmentioning

confidence: 99%

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Passive turning motion of 3D rimless wheel: novel periodic gaits for bipedal curved walking

2015

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Passive dynamic walking originally was introduced to describe some natural stable periodic gaits in straight walking. However, in this research, we have extended this notion to curved walking, wherein some novel three-dimensional (3D) periodic gaits with natural stability have been realized. For this aim, the simplest bipedal walking model, i.e. a rimless spoked-wheel, in its general 3D form, has been considered on a straight slope surface. Then, two kinds of stable passive turning, i.e. limited and circular continuous have been discussed. The first kind is actually a transfer among two-dimensional (2D) periodic motions and can be implemented on such straight slope surface. It is shown that the second kind is related to novel 3D periodic motions and can be just recognized on a special surface profile namely 'helical slope'. The latter are interpreted as 3D fixed points of a Poincare return map. Results not only show asymptotical stability of such periodic motions, but also surprisingly indicate that the stability of a 3D periodic gait (turning) is higher than 2D one (straight walking). Furthermore, the characteristics of passive turning are shown to be firmly connected with the value of the state variables such as the lean angle in each case.

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Section: Limit Cyclic or Periodic Passive Motionsmentioning

confidence: 93%

“…During this phase, the system is assumed to pivot about the support point and does not slip. Using angular momentum balance, the equations of motions of this stage can be obtained [20] as…”

Section: Single Support Phasementioning

confidence: 99%

Section: Limit Cyclic or Periodic Passive Motionsmentioning

confidence: 99%

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Passive turning motion of 3D rimless wheel: novel periodic gaits for bipedal curved walking

2015

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“…The research on humanoid robots has been diverging into various categories including the robot development and many related studies, such as dynamic walking [1][2][3], passive walking [4], adaptive motion planning [5], remote control of mobile robots [6], path planning for obstacle avoidance [7,8], walking pattern generation [9], just to name a few. Among them, control algorithm of walking pattern plays a significant role [9] because, either in a general or an emergent situation, robots may have to modify its preplanned body motion somewhat and somehow for stability by adjusting leg joint's angles or even its next footsteps based on sensory feedback signals.…”

Section: Introductionmentioning

confidence: 99%

Discrete-Time Circular Walking Pattern for Biped Robots

Lim¹,

Son²

2016

Journal of Electrical Engineering and Technology

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-When biped robots make turns fast, they may fall due to the action of centrifugal force. This is why one needs to consider the Zero Moment Point (ZMP) equations with respect to cylindrical coordinate system. Those ZMP equations are, however, so coupled and highly nonlinear even for the simple inverted pendulum model that it is hard to find a closed-form solution. Therefore, in this paper, they have been converted through temporal discretization to difference equations that admit numerical solution by most on-board computers. Thus-obtained walking patterns have been characterized and applied to several cases of different speed for comparison purposes. In so doing, the steady patterns have been blended with a type of transitional patterns to change the walking speed in the beginning and/or mid course of walking. Finally, those combined patterns have been put to test on a multi-body robot model by ADAMS®. Test results show that the robot could walk along a sample circular path as predicted at rapid speeds despite some modeling error, distributed mass and ground contact effects, validating efficacy of the suggested approach.

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