Turn Control of a Three-Dimensional Quasi-Passive Walking Robot by Utilizing a Mechanical Oscillator

A turn control strategy is proposed in order to improve environmental adaptability of a quasi-passive walking robot by utilizing a mechanical oscillator. The target trajectory of the mechanical oscillator is determined by online planning of its period, phase, amplitude and angle of the central axis of oscillation. The motion of the mechanical oscillator is always entrained with the rocking motion of the robot based on forced entrainment in order to stabilize the robot. The turn radius can be controlled by adjusting the inclination angle of the central axis of the mechanical oscillator movement, and the control method is numerically and experimentally examined. Results show that the robot can turn with different radius and it is possible for the robot to walk in various environments. Finally, the gait of turn is compared with that of straight walking and analyzed in terms of mechanical work and energy.