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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/11541

Title: High-speed dynamic gait generation for limit cycle walkers based on forward-tilting impact posture
Authors: Asano, Fumihiko
Keywords: Limit cycle walking
Impact posture
Potential barrier
Issue Date: 2012-07-27
Publisher: Springer
Magazine name: Multibody System Dynamics
Volume: 30
Number: 3
Start page: 287
End page: 310
DOI: 10.1007/s11044-012-9326-7
Abstract: This paper proposes a novel method for generating a dynamic gait based on anterior-posterior asymmetric impact posture tilting the robot’s center of mass forward. The primary purpose of this method is to asymmetrize the impact posture by actuating the robot’s telescopic-legs to make overcoming the potential barrier at mid-stance easy, and the mechanical energy is accordingly restored. First, we introduce a planar rimless wheel model with telescopic legs, and investigate the validity of the stance-leg extension control. The basic properties and efficiency of the generated gait are also numerically analyzed. Second, we extend the method to a planar telescopic-legged biped model, and investigate the validity through numerical simulations. We also discuss the role of asymmetric shape of human foot from the brake effect point of view through efficiency analysis taking the ankle-joint actuation into account.
Rights: This is the author-created version of Springer, Fumihiko Asano, Multibody System Dynamics, 30(3), 2012, 287-310. The original publication is available at www.springerlink.com, http://dx.doi.org/10.1007/s11044-012-9326-7
URI: http://hdl.handle.net/10119/11541
Material Type: author
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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