Hostname: page-component-78c5997874-t5tsf Total loading time: 0 Render date: 2024-11-14T07:25:40.296Z Has data issue: false hasContentIssue false
  • English
  • Français

A simple walking strategy for biped walking based on an intermittent sinusoidal oscillator

Published online by Cambridge University Press:  10 December 2009

Chenglong Fu ,
Feng Tan  and
Ken Chen
Chenglong Fu*
Affiliation:
State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, P. R. China Department of Precision Instruments and Mechanology, Beijing 100084, P. R. China
Feng Tan
Affiliation:
State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, P. R. China
Ken Chen
Affiliation:
State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, P. R. China Department of Precision Instruments and Mechanology, Beijing 100084, P. R. China
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents a control algorithm for biped walking by extension of previous work in the fields of central pattern generator (CPG) and passive walking. The algorithm takes advantage of the passive dynamics of walking, assisting only when necessary with an intermittent sinusoidal oscillator. The parameterized oscillator is used to drive the hip joint; the triggering and ceasing of the oscillator during a walking cycle can be modulated by the sensory feedback. The results from simulation indicate a stable, efficient gait, and robustness against model inaccuracy and environmental variation. We also examine the effects of oscillator parameters and link parameters on the gait, and design a controller to suppress the bifurcation phenomenon based on the error of prior step periods.

Keywords

Biped walkingIntermittent oscillatorSensory feedbackBifurcation suppressing
Type
Article
Information
Robotica , Volume 28 , Issue 6 , October 2010 , pp. 869 - 884
Copyright
Copyright © Cambridge University Press 2009

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Vukobratovic, M., Borovac, B., Surla, D. and Stokich, D., Biped Locomotion: Dynamics, Stability, Control and Application (Springer-Verlag, New York 1990).CrossRefGoogle Scholar
2.Matsuoka, K., “Sustained oscillations generated by mutually inhibiting neurons with adaption,” Biol. Cybern. 52 (6), 367–376 (1985).CrossRefGoogle Scholar
3.Righetti, L. and Ijspeert, A. J., “Programmable Central Pattern Generators: An Application to Biped Locomotion Control,” IEEE Conference on Robotics Automation, Orlando, USA (2006) pp. 1585–1590.Google Scholar
4.Endo, G., Morimoto, J., Nakanishi, J. and Cheng, G., “An Empirical Exploration of a Neural Oscillator for Biped Locomotion Control,” IEEE Conference on Robotics Automation, New Orleans, USA (2004) pp. 3036–3042.Google Scholar
5.Taga, G., Yamaguchi, Y. and Shimizu, H., “Self-organized control in bipedal locomotion by neural oscillators in unpredictable environment,” Biol. Cybern. 65, 147–159 (1991).CrossRefGoogle ScholarPubMed
6.Fukuoka, Y., Mimura, T., Yasuda, N. and Kimura, H., “Integration of Multisensors for Adaptive Walking of a Quadruped Robot,” IEEE Conference on Multisensor Fusion and Integrated Intelligent Systems, Tokyo, Japan (2003) pp. 21–26.Google Scholar
7.Aoi, S. and Tsuchiya, K., “Stability analysis of a simple walking model driven by an oscillator with a phase reset using sensory feedback,” IEEE Trans. Robot. 22 (2), 391–397 (2006).Google Scholar
8.Morimoto, J., Endo, G., Nakanishi, J. and Cheng, G., “A biologically inspired biped locomotion strategy for humanoid robots: Modulation of sinusoidal patterns by a coupled oscillator model,” IEEE Trans. Robot. 24 (1), 185–191 (2008).CrossRefGoogle Scholar
9.Capaday, C., “The special nature of human walking and its neural control,” Trends Neurosci. 25 (7), 370–376 (2002).CrossRefGoogle ScholarPubMed
10.Collins, S. H., Ruina, A., Tedrake, R. L. and Wisse, M., “Efficient bipedal robots based on passive-dynamic walkers,” Science 307, 1082–1085 (2005).CrossRefGoogle ScholarPubMed
11.Wisse, M., Schwab, A. L., van der Linde, R. Q. and van der Helm, F. C. T., “How to keep from falling forward: Elementary swing leg action for passive dynamic walker,” IEEE Trans. Robot. 21 (3), 393–401 (2005).CrossRefGoogle Scholar
12.Collins, S. H. and Ruina, A., “A Biped Walking Robot with Efficient and Human-like Gait,” IEEE Conference on Robotics Automation, Barcelona, Spain (2005) pp. 1983–1988.Google Scholar
13.Ono, K., Furuichi, T. and Takahashi, R., “Self-excited walking of a biped mechanism with feet,” Int. J. Robot. Res. 23 (1), 55–68 (2004).CrossRefGoogle Scholar
14.Westervelt, E. R., Grizzle, J. W. and Koditschek, D. E., “Hybrid zero dynamics of planar biped walkers,” IEEE Trans. Autom. Control 48 (1), 42–56 (2003).CrossRefGoogle Scholar
15.Geng, T., Porr, B. and Worgotter, F., “Fast biped walking with a sensor-driven neuronal controller and real-time online learning,” Int. J. Robot. Res. 25 (3), 243–259 (2006).CrossRefGoogle Scholar
16.Fu, C. and Chen, K., “Gait synthesis and sensory control of stair climbing for a humanoid robot,” IEEE Trans. Ind. Electron. 55 (5), 2111–2120 (2008).Google Scholar
17.Harata, Y., Asano, F., Luo, Z., Taji, K. and Uno, Y., “Biped gait generation based on parametric excitation by knee-joint actuation,” Robotica 27 (7), 1063–1073 (2009).CrossRefGoogle Scholar
18.Hobbelen, D. G. E. and Wisse, M., “Swing-leg retraction for limit cycle walkers improves disturbance rejection” IEEE Trans. Robot. 24 (2), 377–389 (2008).CrossRefGoogle Scholar
19.Clarac, F., Cattaert, D. and Ray, D. L., “Central control components of a ‘simple’ stretch reflex,” Trends Neurosci. 23 (5), 199–208 (2000).CrossRefGoogle ScholarPubMed
20.Alexander, R. M., “Walking made simple,” Science 308, 58–59 (2005).CrossRefGoogle ScholarPubMed