Optimized Configuration for the Upper Body with a Bisecting Hip Mechanism in Passive Dynamic Walking

Abstract:

Biped passive dynamic walking is a promising idea towards the goal of humanoid robotics further after the proposal of the upper body in these years. In this paper, we deduce the dynamic robot model with the upper body based on bisecting hip, in which the section of the swing phase is performed by Lagrange method, while the section of the collision phase is completed in terms of the principle of angular momentum conservation. The analysis of the global stability and the local stability are combined with each other, based on which the configurations of parameters with different mass and size of the upper body are discussed. Finally the optimized configuration of the model is obtained after the simulation in Adams environment. Results verify that the model with an upper body exhibits an extraordinary stability and robustness under circumstances of either a single disturbance or random disturbances.

• Periodical: Applied Mechanics and Materials (Volume 39)
• Pages: 306-311
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.39.306
• Online since: November 2010
• Authors: Jie Zhao, Xiao Guang Wu, Xi Zhe Zang, Ji Hong Yan, Lei Zhu
• Keywords: Biped, Bisecting Hip, Passive Dynamic Walking, Upper Body

References

[1] T. McGeer: Passive dynamic walking. Int. J. Robot. Res. Vol. 9, no. 2(Apr. 1990), p.62.

[2] S. Collins, A. Ruina, R. Tedrake, and M. Wisse: Efficient bipedal robots based on passive dynamic walkers. Sci. Mag. Vol. 307(2005), p.1082.

DOI: 10.1126/science.1107799

[3] Y. Huang, Q. Wang, G.M. Xie, etc.: Optimal Mass Distribution for a Passive Dynamic Biped with Upper Body Considering Speed, Efficiency and Stability (8th IEEE-RAS International Conference on Humanoid Robots, Korea 2008).

DOI: 10.1109/ichr.2008.4756006

[4] F. Asano, Z.W. Luo: Energy-Efficient and High-Speed Dynamic Biped Locomotion Based on Principle of Parametric Excitation. IEEE Trans. Robotics, Vol. 24, No. 6(2008), p.1298.

DOI: 10.1109/tro.2008.2006234

[5] A.K. Kamath, N.M. Singh: Impact Dynamics Based Control of Compass Gait Biped (American Control Conference Hyatt Regency Riverfront, St. Louis, MO, USA 2009).

DOI: 10.1109/acc.2009.5160731

[6] M. Wisse, D.G. E. Hobbelen, A.L. Schwab: . Adding an upper body to passive dynamic walking robots by means of a bisecting hip mechanism. IEEE Trans. Robotics, Vol. 23, No. 1(2007), p.112.

DOI: 10.1109/tro.2006.886843

[7] T. Sasaki, M. Yamakita: Efficient walking control of robot with torso based on passive dynamic walking (IEEE Int. Conf. on Mechatronics, Horland 2007).

DOI: 10.1109/icmech.2007.4280018

[8] M.J. Kurz, N. Stergiou: Hip actuations can be used to control bifurcations and chaos in a passive dynamic walking model. J. of Biomechanical Engineering. Vol. 129 (2007), p.216.

DOI: 10.1115/1.2486008