Effect of the Dynamics of a Horizontally Wobbling Mass on Biped Walking Performance

We have developed biped robots with a passive dynamic walking mechanism. This study proposes a compass model with a wobbling mass connected to the upper body and oscillating in the horizontal direction to clarify the influence of the horizontal dynamics of the upper body on bipedal walking. The limit cycles of the model were numerically searched, and their stability and energy efficiency was investigated. Several qualitatively different limit cycles were obtained depending mainly on the spring constant that supports the wobbling mass. Specific types of solutions decreased the stability while reducing the risk of accidental falling and improving the energy efficiency. The obtained results were attributed to the wobbling mass moving in the opposite direction to the upper body, thereby preventing large changes in acceleration and deceleration while walking. The relationship between the locomotion of the proposed model and the actual biped robot and human gaits was investigated.Comment: 6 pages, 8 figures, accepted to IEEE International Conference on Robotics and Automation (ICRA 2023

Bounding of a two-legged robot using CPG-based controller inspired by a cheetah simple model

The 11th International Symposium on Adaptive Motion of Animals and Machines. Kobe University, Japan. 2023-06-06/09. Adaptive Motion of Animals and Machines Organizing Committee.Poster Session P

Bipedal Robot Running: Human-like Actuation Timing Using Fast and Slow Adaptations

We have been developing human-sized biped robots based on passive dynamic mechanisms. In human locomotion, the muscles activate at the same rate relative to the gait cycle during running. To achieve adaptive running for robots, such characteristics should be reproduced to yield the desired effect. In this study, we designed a central pattern generator (CPG) involving fast and slow adaptation to achieve human-like running using a simple spring-mass model and our developed bipedal robot, which is equipped with actuators that imitate the human musculoskeletal system. Our results demonstrate that fast and slow adaptations can reproduce human-like running with a constant rate of muscle firing relative to the gait cycle. Furthermore, the results suggest that the CPG contributes to the adjustment of the muscle activation timing in human running.Comment: 15 pages, 12 figures, submitted to Advanced Robotic

Effects of Murphy number on quadrupedal running gait based on a simple model

The 11th International Symposium on Adaptive Motion of Animals and Machines. Kobe University, Japan. 2023-06-06/09. Adaptive Motion of Animals and Machines Organizing Committee.Poster Session P4

四足動物の高速走行において体幹柔軟性がもたらす効果の動力学解析

京都大学0048新制・課程博士博士(工学)甲第22409号工博第4670号新制||工||1729(附属図書館)京都大学大学院工学研究科機械理工学専攻(主査)教授 松野 文俊, 教授 椹木 哲夫, 教授 泉田 啓学位規則第4条第1項該当Doctor of Philosophy (Engineering)Kyoto UniversityDGA