Towards Bipedal Jogging as a Natural Result of Optimizing Walking Speed for Passively Compliant Three-Segmented Legs

Elasticity in conventionally built walking robots is an undesired sideeffect that is suppressed as much as possible because it makes control very hard and thus complex control algorithms must be used. The human motion apparatus, in contrast, shows a very high degree of flexibility with sufficient stability. In this research we investigate how compliance and damping can deliberately be used in humanoid robots to improve walking capabilities. A modular robot system consisting of rigid segments, joint modules and adjustable compliant cables spanning one or two joints is used to configure a human-like biped. In parallel, a simulation model of the robot was developed and analyzed. Walking motion is gained by oscillatory out-of-phase excitations of the hip joints. An optimization of the walking speed has been performed by improving the viscoelastic properties of the leg and identifying the appropriate hip control parameters. A good match was found between real robot experiments and numerical simulations. At higher speeds, transitions from walking to running are found in both the simulation as well as in the robot. KEY WORDS—locomotion, compliant legs, walking, running, control, optimization The International Journal of Robotics Research Vol. 00, No. 00, Xxxxxxxx 2008, pp. 000–000 DOI: 10.1177/0278364908095843 c SAGE Publications 2008 Los Angeles, London, New Delhi and Singapore Figures 1–4, 6, 7, 9, 11, 13 appear in color online: http://ijr.sagepub.com