NDLI: Self-excitation control for biped walking mechanism

Content Provider	IEEE Xplore Digital Library
Author	Ono, K. Takahashi, R. Imadu, A. Shimada, T.
Copyright Year	2000
Description	Author affiliation: Dept. of Mech. Eng. & Sci., Tokyo Inst. of Technol., Japan (Ono, K.)
Abstract	This paper presents the self-excited walking of a four-link biped walking mechanism which possesses an actuated hip joint, passive knee joints and a curved feet. Instead of gravity potential energy, the natural walking motion of the four-link biped mechanism is self-excited by the hip joint torque which is proportional to the angle of the swing shank. In this paper, we show that this self-excitation control enables the 3-DOF planar biped model to walk on level ground by numerical simulation. From the parameter study of the feedback gain, we found that stable walking motion was possible over the wide range of this parameters, and walking velocity and periods were not so much affected. It was confirmed that the properties of this self-exciting walking, such as walking velocity and duration, were changed by the structural parameters of the walking model.
Starting Page	1143
Ending Page	1148
File Size	500487
Page Count	6
File Format	PDF
ISBN	0780363485
DOI	10.1109/IROS.2000.893173
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-10-31
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Knee Leg Hip Actuators Mechanical engineering Humans Gravity Potential energy Torque
Content Type	Text
Resource Type	Article

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