Adaptive Excitation Control for the Underactuated Biped Robot

AbstractA control method to make the chaotic gait converge to a stable cycle gait is proposed for the biped robot with knees. This control method is called adaptive excitation control. It is based on the principle of bionics and the principle of self-excited. The control law is a combination of sinusoidal input and sensory feedback control. The control torque is only inputted into the robot's hip. Therefore, the walking process is low energy consuming. Simulation results show that the control method proposed in this paper is effective. It can enlarge the basin of attraction of limit cycle and increase the gait stability

Hiroshima University Research and Technology Guide 2012 Version : Physical Science & Engineering

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Parametric Excitation Based Gait Generation for Ornithoid Walking

The parametric excitation based gait generation method proposed by Asano et al. restores mechanical energy lost by heel-strike collisions. Harata et. al. applied this method to a kneed biped robot which is proper for the parametric excitation, and show that sustainable gait has been generated with only knee torque. A swing-leg of a kneed biped robot has similar mechanism to an acrobot, and many acrobots bends a joint in inverse direction like ornithoid walking. This suggests that inverse bending a knee restores more mechanical energy than forward bending like human walking, and hence, inverse bending may be more efficient. In this paper, we propose a parametric excitation based ornithoid gait generation method for a kneed biped robot, and show that it can walk sustainably by numerical simulation. We also show that parametric excitation based inverse bending walking is more efficient than parametric excitation based forward bending walking with respect to performance indices in our model