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Efficient Bipedal Walking using Natural Dynamics and Delayed Stepping Reflex
Author(s) -
Otoda Yuji
Publication year - 2008
Publication title -
ieej transactions on electrical and electronic engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.254
H-Index - 30
eISSN - 1931-4981
pISSN - 1931-4973
DOI - 10.1002/tee.20293
Subject(s) - zero moment point , control theory (sociology) , torso , inverted pendulum , dynamics (music) , robot , computer science , moment (physics) , inverse dynamics , bipedalism , pendulum , control engineering , humanoid robot , control (management) , simulation , engineering , artificial intelligence , physics , nonlinear system , kinematics , mechanical engineering , classical mechanics , medicine , quantum mechanics , acoustics , anatomy , paleontology , biology
The most popular control method for bipedal walking robots is the zero moment point‐based (ZMP‐based) control method. In this method, the torso is accelerated and decelerated by the motors in every step. This is not energetically efficient because natural dynamics is not used. Natural dynamics involves the generation of motion using the mechanical features of the machine, i.e. without using motors (as far as possible). A well‐designed biped robot has its own natural dynamics that are suitable for efficient walking. Such natural dynamics is not considered in the zero‐moment point (ZMP)‐based control method. In the present paper, a biped robot called ‘Tetsuro’, which is designed considering natural dynamics, is presented, and an inverted pendulum based control method and delayed stepping reflex, which can generate efficient treadmill walking, are described. © 2008 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.