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The International Journal of Robotics Research
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Self-Excited Walking of a Biped Mechanism

Kyosuke Ono

Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Tokyo, Japan 152-8552ono{at}mech.titech.ac.jp

Ryutaro Takahashi

Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Tokyo, Japan 152-8552

Toru Shimada

Fujitsu Limited, Kawasaki, Japan

The authors studied the self-excited walking of a four-link biped mechanism that possesses an actuated hip joint and passive knee joints with stoppers. They showed that the self-excitation control enables the three-degree-of-freedom planar biped model to walk on level ground by numerical simulation. From the parameter study, it was found that stable walking locomotion is possible over a wide range of feedback gain and link parameter values and that the walking period is almost independent of the feedback gain. Various characteristics of the self-excited walking of a biped mechanism were examined in relation to leg length, and length and mass ratios of the shank. Next, a biped mechanism was manufactured similar to the analytical model. After parameter modification, the authors demonstrated that the biped robot can perform natural dynamic walking on a plane with a 0.8 degree inclination. The simulated results also agree with the experimental walking locomotion.

Key Words: biped mechanism • walking locomotion • self-excitation • natural motion • self-excited walking

The International Journal of Robotics Research, Vol. 20, No. 12, 953-966 (2001)
DOI: 10.1177/02783640122068218
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K. Ono, T. Furuichi, and R. Takahashi
Self-Excited Walking of a Biped Mechanism with Feet
The International Journal of Robotics Research, January 1, 2004; 23(1): 55 - 68.
[Abstract] [PDF]