High-speed biped walking using swinging-arms based on principle of up-and-down wobbling mass

In this paper, we propose a novel speeding-up method for biped walking using a swinging-arms motion based on the principle of an up-and-down wobbling mass. We have shown that biped robots with a wobbling mass can achieve fast walking using an active up-and-down motion of the wobbling mass. We have also shown that the active up-and-down motion increases walking speed of biped robots. We apply this principle to a biped robot with two linked arms like humans for achieving high-speed limit cycle walking. We show that the proposed method achieves high-speed limit cycle walking of biped robots with arms.2015 IEEE International Conference on Robotics and Automation (ICRA), 26-30 May 2015, Seattle, WA, US

Asymmetric swing-leg motions for speed-up of biped walking

This study presents a novel swing-leg control strategy for speed-up of biped robot walking. The trajectory of tip of the swing-leg is asymmetric at the center line of the torso in the sagittal plane for this process. A methodology is proposed that enables robots to achieve the synchronized asymmetric swing-leg motions with the stance-leg angle to accelerate their walking speed. The effectiveness of the proposed method was simulated using numerical methods

Inerter effects for running robots with mechanical impedance

This paper presents inerer effect for achieving high-speed running of legged robots. The previous simplest biped robot with mechanical impedance consisted of a mass and a telescopic leg with a spring. However, the running speed of the robot is limited by the natural period of the model, which cannot be freely designed. Our proposed method overcomes this limitation by virtue of the inerter. The effectiveness of the proposed method is demonstrated through a mathematical analysis and numerical simulations.2017 IEEE International Conference on Robotics and Biomimetics (IEEE-ROBIO 2017), 5-8 December, 2017, Macau, Maca

Analysis of fast bipedal walking using mechanism of actively controlled wobbling mass

In this study, a novel approach was developed to achieve fast bipedal walking by using an actively controlled wobbling mass. Bipedal robots capable of achieving energy efficient limit cycle walking have been developed, and researchers have studied methods to increase their walking speed. When humans walk, their arm swinging is coordinated with the walking phases, generating a regular symmetrical motion about the torso. The bipedal robots with a wobbling mass in the torso mimicked the arm swinging by the proposed control method. We demonstrated that the proposed method is capable of increasing the bipedal walking speed

Development of Rimless Wheel with Controlled Wobbling Mass

This paper presents a novel method for generating level-ground walking for a rimless wheel with a controlled wob-bling mass. Our rimless wheel achieves level-ground walking by simply controlling the wobbling mass attached to the wheel. We mathematically demonstrate that the controlled wobbling mass generates propulsive effects for the rimless wheel. The walking speed of the rimless wheel can be changed by varying the amplitude of the wobbling mass: thus slow walking to high-speed walking can be realized for the wheel. Moreover, we have developed a robot based on a rimless wheel to show effectiveness of our proposed methods. We then analyze the walking properties with respect to the physical parameters and control parameters of our robot through numerical simulation.2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), October, 1-5, 2018, Madrid, Spai

Asymmetric Swing-leg Motions for Speed-up of Biped Walking

This study presents a novel swing-leg control strategy for speed-up of biped robot walking. The trajectory of tip of the swing-leg is asymmetric at the center line of the torso in the sagittal plane for this process. A methodology is proposed that enables robots to achieve the synchronized asymmetric swing-leg motions with the stance-leg angle to accelerate their walking speed. The effectiveness of the proposed method was simulated using numerical methods