Target Trajectory Design of Parametrically Excited Inverted Pendulum for Efficient Bipedal Walking

Authors: Toyoyuki Honjo, Takeshi Hayashi, Akinori Nagano, Zhi-Wei Luo

Abstract:

For stable bipedal gait generation on the level floor, efficient restoring of mechanical energy lost by heel collision at the ground is necessary. Parametric excitation principle is one of the solutions. We dealt with the robot-s total center of mass as an inverted pendulum to consider the total dynamics of the robot. Parametrically excited walking requires the use of continuous target trajectory that is close to discontinuous optimal trajectory. In this paper, we proposed the new target trajectory based on a position in the walking direction. We surveyed relations between walking performance and the parameters that form the target trajectory via numerical simulations. As a result, it was found that our target trajectory has the similar characteristics of a parametrically excited inverted pendulum.

Keywords: Dynamic Bipedal Walking, Parametric Excitation, Target Trajectory Design.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1057481

References:

[1] T. McGeer, "Passive Dynamic Walking," Int.J. of Robotics Research, Vol.57, No.2, pp.62-82, 1990.
[2] A. Goswami, B. Espiau and A. Keramane, "Limit cycles in a passive compass gait biped and passivity-mimicking control laws," J. of Autonomous Robots, Vol.4, No. 3, pp.273-286 1997.
[3] F. Asano, M. Yamakita and K. Furuta, "Virtual passive dynamic walking and energy-based control laws," IEEE/RSJ International Conference on Intelligent Robotics and Systems, 2000.
[4] F. Asano and Z. W. Luo, "The effect of semicircular feet on energy dissipation by heel-strike in dynamic biped locomotion," IEEE International Conferance on Robotics and Automation, 2007.
[5] F. Asano and Z. W. Luo, "Efficient dynamic bipedal walking using effects of semicircular feet," Robotica, Vol 29, pp.351-365, 2011.
[6] F. Asano, Z.W. Luo and S. Hyon, "Parametric excitation mechanisms for dynamic bipedal walking," IEEE International Conference on Robotics and Automation, 2005.
[7] F. Asano, T. Hayashi, Z. W. Luo, S. Hirano and A. Kato, "Parametric excitation approaches to efficient bipedal walking," IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007.
[8] F. Asano and Z. W. Luo, "Energy-efficient and high-speed dynamic biped locomotion based on principle of parametric excitation," IEEE Transaction on Robotics. Vol.24, No.6, pp.1289-1301, 2008.
[9] Y. Harata, F. Asano, K. Taji and Y. Uno, "Biped gait generation based on parametric excitation by knee-joint actuation," IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007.
[10] Y. Harata, F. Asano, K. Taji and Y. Uno, "Efficient parametric excitation walking with delayed feedback control," IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009.
[11] Y. Harata, F. Asano, Z. W. Luo, K. Taji and Y. Uno, "Biped gait generation based on parametric excitation by knee-joint actuation," Robotica, Vol. 27, pp.1063-1073, 2009.
[12] T. Honjo, A.Nagano and Z. W. Luo, "Parametric excitation of a biped robot as an inverted pendulum," IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008.
[13] Y. Banno, Y. Harata, K. Taji and Y. Uno, "Optimal trajectory design for parametric excitation walking," IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009.
[14] Y. Harata, Y. Banno and K. Taji, "Parametric excitation based bipedal walking: Control method and optimization," Numerical Algebra, Control and Optimization, Vol.1, No.1, pp.171-190, 2011.