2A2-E02 Stability Analysis for Passive Dynamic Biped Robot Using Constraining Sole Shape(Passive Walking Robot (1))

Takeru Omidou; Manabu Sugawara; Kana TAMAGAWA; Naoya RIKIISHI; Kazuyuki Hyodo; Sadayoshi Mikami

doi:10.1299/jsmermd.2013._2a2-e02_1

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2A2-E02 Stability Analysis for Passive Dynamic Biped Robot Using Constraining Sole Shape(Passive Walking Robot (1))

Takeru Omidou Manabu Sugawara Kana TAMAGAWA Naoya RIKIISHI Kazuyuki Hyodo Sadayoshi Mikami

Year: 2013 Journal: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) Vol: 2013 (0)Pages: _2A2-E02_1 Publisher: Japan Society Mechanical Engineers

DOI: 10.1299/jsmermd.2013._2a2-e02_1

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Abstract

Constraining Sole Shape is proposed for stabilization of passive dynamic biped robots. In previous researches, stability of constraining sole shape is confirmed by outdoor testing and long-term walking testing. However, theoretical explanations remain as issues. This research shows that stabilizing effect of constraining sole shape is same as the effect of floor reaction force control, and the basin of attraction spreads by using the constraining sole shape.

Keywords:

Robot Biped robot Stability (learning theory) Control theory (sociology) Computer science Control (management) Artificial intelligence

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2A2-E02 Stability Analysis for Passive Dynamic Biped Robot Using Constraining Sole Shape(Passive Walking Robot (1))

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