Measurement of Walking Gait for 3d Passive Dynamic Biped Walker
نویسندگان
چکیده
Passive dynamic bipedal walking (PDW) is an attractive topic not only for robotics field but also the other scientific fields, i.e. physics and biology. In order to clarify its mechanism of walking, many researchers have developed various PDW machines. We also have developed several 3D PDW with flat feet and ankle springs. However there are no researches on the measurement of 3-D PDW gait, which reveals its mechanism precisely. This paper, therefore, describes measurement of walking gait of 3-D PDW such as zero moment point (ZMP) and its posture which are often measured for human gait analysis. A unique flexible displacement sensor and a usual 6 axes force sensor are utilized for the measurement. As a result, ZMP trajectory draws ‘8’ shape pattern, which is similar to that of human. Moreover the measurement system clarified the relationship between walking gait and ballast position which is effective for stabilization.
منابع مشابه
From Passive Dynamic Walking to Passive Turning of Biped walker
Dynamically stable biped robots mimicking human locomotion have received significant attention over the last few decades. Formerly, the existence of stable periodic gaits for straight walking of passive biped walkers was well known and investigated as the notion of passive dynamic walking. This study is aimed to elaborate this notion in the case of three dimensional (3D) walking and extend it f...
متن کاملStabilization and Walking Control for a Simple Passive Walker Using Computed Torque Method (RESEARCH NOTE)
Abstract The simple passive dynamic walker can walk down a shallow downhill slope with no external control or energy input. Nevertheless, the period-one gait stability is only possible over a very narrow range of slopes. Since the passive gaits are extremely sensitive to slope angles, it is important to use a control strategy in order to achieve a wide range of stable walking. The computed to...
متن کاملDevelopment of a three-dimensional dynamic biped walking via the oscillation of telescopic knee joint and its gait analysis
The purpose of this study is to extend the three-dimensional (3-D) passive dynamic biped walker to a 3-D dynamic biped walker, i.e., a walker that can walk on a horizontal surface based on a passive dynamic walking. A new prototype of 3-D biped walker called RW04, which has telescopic knee joints, was developed and its ability for walking was validated through some experiments. A sinusoidal osc...
متن کامل3D Quasi-passive Walking of Biped Robot with Flat Feet - Gait Comparison between Passive Walking and Quasi-passive Walking -
Currently, many bipedal robots have been proposed to realize the high energy efficiency walking. The control input isn’t required for the passive dynamic walking. Generally, a foot of passive dynamic walking robot is an arc foot. In this paper, it is intended to establish a control method and control mechanism to achieve the energy efficient and the stable gait. Therefore, we developed 3D quasi...
متن کاملExperimental Study of Passive Dynamic Bipedal Walking: Comparing Test Platforms
In this study an experimental passive dynamic biped walker is developed. The design of the experimental passive walker incorporates an accelerometer and an encoder for the purpose of gait measurement. The aim of this study is to compare the equivalency of testing a passive dynamic biped walker on a ramp to testing on a treadmill. The measured gaits produced on a ramp and on a treadmill are used...
متن کامل